The consensus of non-linear agents under switching topology using dynamic inversion in the presence of communication noise and delay

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dc.contributor.authorMondal, Sabyasachi
dc.contributor.authorTsourdos, Antonios
dc.date.accessioned2021-05-07T14:01:32Z
dc.date.available2021-05-07T14:01:32Z
dc.date.issued2021-05-03
dc.description.abstractIn this study, a consensus protocol for non-linear multi-agent systems using the non-linear dynamic inversion (NDI) technique is presented. It is named as distributed NDI or DNDI. The agents are considered to be working in a randomly changing environment which is realistic. The randomness in the operating environment is introduced by random switching communication topology, delays, and noise. The consensus protocol is obtained as a closed-form expression, which is a critical requirement for real-time implementation. Also, various cases regarding the communication issues have been considered to study the performance of the DNDI controller. The simulation results are found to be satisfactory.en_UK
dc.identifier.citationMondal S, Tsourdos A. (2022) The consensus of non-linear agents under switching topology using dynamic inversion in the presence of communication noise and delay, Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering, Volume 236, Issue 2, February 2022, pp. 352-367en_UK
dc.identifier.issn0954-4100
dc.identifier.urihttps://doi.org/10.1177/09544100211012795
dc.identifier.urihttps://dspace.lib.cranfield.ac.uk/handle/1826/16658
dc.language.isoenen_UK
dc.publisherSageen_UK
dc.rightsAttribution 4.0 International*
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/*
dc.subjectcommunication noiseen_UK
dc.subjectcommunication delayen_UK
dc.subjectswitching topologyen_UK
dc.subjectnon-linear dynamic inversionen_UK
dc.subjectmulti-agent systemsen_UK
dc.subjectConsensusen_UK
dc.titleThe consensus of non-linear agents under switching topology using dynamic inversion in the presence of communication noise and delayen_UK
dc.typeArticleen_UK

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