Seminar Details
2024-11-18 (10h) : Scalable high-order consensus for multi-agent coordination
At Euler building (room A.207)
Organized by Mathematical Engineering
Speaker :
Jonas Hansson (Lund University,Sweden)
Abstract :
In this talk, I will present a novel control design for vehicular formations, introducing an alternative approach to conventional consensus protocols for second and high-order systems. The design is motivated by the closed-loop system, which we construct to match the dynamics of first-order systems connected in series, and is therefore called serial consensus. Due to the design, the stability of the closed-loop can be easily proven. Perhaps more interestingly, the control design can also be adapted to achieve both scalable and robust stability and performance (string stability), which is particularly interesting for controlling large vehicular platoons. Noteworthy, this is achieved with a distributed controller that only uses local relative measurements. The theoretical findings will be illustrated through examples.