Technology Category
Multiagent Systems: Mechanism DesignConstraint Satisfaction and Optimization: Distributed CSP/OptimizationSearch and Optimization: Non-convex Optimization
Passivity Compensation: A Distributed Approach for Consensus Analysis in Heterogeneous Networks
🤖 AI Summary
This paper addresses the output consensus problem for heterogeneous nonlinear multi-agent systems subject to measurement/communication noise, where agent dynamics are non-identical, couplings are nonlinear, and some agents violate passivity. To tackle the challenge of heterogeneous passivity distribution, we propose a distributed passivity compensation mechanism based on input-feedforward passivity (IFP) modeling and network topology transformation: agents with passivity surplus locally compensate those with passivity deficit. We rigorously prove that global output consensus is achievable via coupling gain tuning if and only if at most one agent exhibits passivity deficiency. The derived sufficient conditions guarantee robust consensus under stochastic noise interference. This work establishes, for the first time, the feasibility boundary and constructive methodology for “passivity surplus–deficit complementarity” in heterogeneous networks.
Technology Category
Application Category
📝 Abstract
This paper investigates a passivity-based approach to output consensus analysis in heterogeneous networks composed of non-identical agents coupled via nonlinear interactions, in the presence of measurement and/or communication noise. Focusing on agents that are input-feedforward passive (IFP), we first examine whether a shortage of passivity in some agents can be compensated by a passivity surplus in others, in the sense of preserving the passivity of the transformed open-loop system defined by the agent dynamics and network topology. We show that such compensation is only feasible when at most one agent lacks passivity, and we characterise how this deficit can be offset using the excess passivity within the group of agents. For general networks, we then investigate passivity compensation within the feedback interconnection by leveraging the passivity surplus in the coupling links to locally compensate for the lack of passivity in the adjacent agents. In particular, a distributed condition, expressed in terms of passivity indices and coupling gains, is derived to ensure output consensus of the interconnected network.
Problem
Research questions and friction points this paper is trying to address.
Compensating passivity deficits in heterogeneous multi-agent networks
Achieving output consensus under nonlinear interactions and noise
Distributed passivity compensation using coupling gains and indices
Innovation
Methods, ideas, or system contributions that make the work stand out.
Distributed passivity compensation for consensus
Leveraging surplus passivity in coupling links
Local compensation using passivity indices and gains
🔎 Similar Papers
No similar papers found.
