Compositional design for time-varying and nonlinear coordination
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arXiv
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| Autores principales: | , |
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| Formato: | Preprint |
| Publicado: |
2025
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| _version_ | 1866915235651125248 |
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| author | Hansson, Jonas Tegling, Emma |
| author_facet | Hansson, Jonas Tegling, Emma |
| contents | This work addresses the design of multi-agent coordination through high-order consensus protocols. While first-order consensus strategies are well-studied -- with known robustness to uncertainties such as time delays, time-varying weights, and nonlinearities like saturations -- the theoretical guarantees for high-order consensus are comparatively limited. We propose a compositional control framework that generates high-order consensus protocols by serially connecting stable first-order consensus operators. Under mild assumptions, we establish that the resulting high-order system inherits stability properties from its components. The proposed design is versatile and supports a wide range of real-world constraints. This is demonstrated through applications inspired by vehicular formation control, including protocols with time-varying weights, bounded time-varying delays, and saturated inputs. We derive theoretical guarantees for these settings using the proposed compositional approach and demonstrate the advantages gained compared to conventional protocols in simulations. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2504_07226 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Compositional design for time-varying and nonlinear coordination Hansson, Jonas Tegling, Emma Systems and Control Optimization and Control This work addresses the design of multi-agent coordination through high-order consensus protocols. While first-order consensus strategies are well-studied -- with known robustness to uncertainties such as time delays, time-varying weights, and nonlinearities like saturations -- the theoretical guarantees for high-order consensus are comparatively limited. We propose a compositional control framework that generates high-order consensus protocols by serially connecting stable first-order consensus operators. Under mild assumptions, we establish that the resulting high-order system inherits stability properties from its components. The proposed design is versatile and supports a wide range of real-world constraints. This is demonstrated through applications inspired by vehicular formation control, including protocols with time-varying weights, bounded time-varying delays, and saturated inputs. We derive theoretical guarantees for these settings using the proposed compositional approach and demonstrate the advantages gained compared to conventional protocols in simulations. |
| title | Compositional design for time-varying and nonlinear coordination |
| topic | Systems and Control Optimization and Control |
| url | https://arxiv.org/abs/2504.07226 |