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The problem of achieving synchrony in a group of heterogeneous systems is considered. By synchrony, we understand the fact of temporal coincidence of output trajectories of the individual systems. The individual systems are modeled as general time-invariant nonlinear systems which are coupled through relative error measures. The question is addressed, what properties the individual systems need to...
The generalized Nyquist criterion is used to derive necessary and sufficient consensus conditions for large high-order linear multi-agent systems (MAS) with heterogeneous communication delays. The new consensus conditions are set-valued graphical conditions, from which inequality conditions are derived for single integrator MAS. The obtained conditions provide a unification and generalization of several...
We study the stability of multi-agent system (MAS) formations with delayed exchange of information between the agents. The agents are described by second order systems. They communicate via a symmetric connected communication topology with constant, heterogeneous, symmetric delays between any two neighboring agents. We consider two different tasks for the MAS: rendezvous, where all agents meet at...
This paper presents a new safety feedback design for multi-agent systems. In contrast to existing methods, the proposed approach follows the idea to decouple the design of low-level safety features from abstract high-level tasks of the agents. This leads to a modular design that preserves the flexibility of multi-agent systems while increasing their usability in safety critical applications by giving...
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