In this technical note we investigate the reachability and observability properties of a network system, running Laplacian based average consensus algorithm, when communication graph is path or cycle. Specifically, provide necessary sufficient conditions, on simple rules from number theory, to characterize all only nodes which system reachable (respectively observable). Interesting immediate corollaries our results are: i) (observable) any single node if power two,n = 2 <sup...

In this paper, we investigate the controllability and observability properties of a family linear dynamical systems, whose structure is induced by Laplacian grid graph. This analysis motivated several applications in network control estimation, quantum computation discretization partial differential equations. Specifically, characterize eigenvectors means suitable decompositions For each eigenvalue, based on its multiplicity symmetries corresponding eigenvectors, provide necessary sufficient...

The problem of estimating the position a 3-D vehicle subject to constant unknown velocity disturbance is addressed: only available model output assumed be distance (range) reference point. vehicle's nominal also known. An observability analysis performed and an observer designed. proposed approach departs from alternative ones leads definition linear time-invariant state equation with time-varying output. localization solved using novel outlier robust predictor-corrector estimator. Numerical...

Laplacian controllability and observability of a consensus network is widely studied topic in the area multi-agent systems, complex networks large-scale systems. In this paper, problem afforded when communication among nodes described through starlike tree topology. After brief description mathematical setting problem, which adopted for wide number systems engineering applications, some novel results are drawn based on node positions within only. The resulting methods graphical, thus...

Laplacian controllability and observability of a consensus network is widely considered topic in the area multi-agent systems, complex networks, large-scale systems. In this paper, problem addressed when communication among nodes described through starlike tree topology. After brief description mathematical setting adopted wide number systems engineering applications, some novel results are drawn based on node positions within only. The resulting methods graphical thus effective exempt from...

This paper addresses the actuator failure compensation problem, and considers an uncertain linear plant which is supposed to undergo unknown failures causing input components be stuck at some but bounded time functions. A control policy, based on sliding mode, presented, guarantees detection of fault identification failed component by means a suitable test input. Once has been identified, law reconfigured, redistributing activity among controllers still working. The proposed controller...

This note addresses the stabilization problem of an uncertain intrinsically nonlinear single-input-single-output plant containing nonsmooth nonlinearities (dead zone, backlash, hysteresis) in actuator device. A unified framework for its solution is here proposed, assuming that parameters are as well. To this purpose, hysteresis model used a previous paper has been modified into "extended" one, and robust control law ensuring asymptotic synthesized using it. The resulting controller shown to...

In this paper, a novel approach for finite-time average consensus within prescribed time is introduced and explored multi-agent system running ordinary nearest-neighbor protocols. Differently from the available approaches of consensus, it exploits special motion one agent properly tuned, through an appropriate algorithm based on past values its own local data. The leader's influence input built upon set internal variables, designed to achieve transient behavior while keeping initial value...

In this paper we investigate the observability and reachability properties of a network system, running Laplacian based average consensus algorithm, when communication graph is grid. More in detail, characterize structure grid eigenvectors by means suitable decompositions graph. For each eigenvalue, on its multiplicity symmetries corresponding eigenvectors, provide necessary sufficient conditions to all only nodes from which system observable (reachable). We discuss proposed criteria show,...

In this paper, we consider a discrete-time consensus network, and assume that one of the agents acts as leader injects an input signal to improve overall system performance, in particular increase speed convergence or achieve finite-time consensus. Two possible control protocols are proposed, characteristic polynomials resulting closed-loop systems determined. These results allow us investigate systems. Open problems future research directions conclude paper.

In this paper we investigate the observability properties of a network system, running Laplacian based average consensus algorithm, when communication graph is path or cycle. More in detail, provide necessary and sufficient conditions, on simple algebraic rules from number theory, to characterize all only nodes which system observable. Interesting immediate corollaries our results are: (i) observable any single node if power two, n = 2 <sup xmlns:mml="http://www.w3.org/1998/Math/MathML"...

This note tackles the output zeroing problem of a square multiple-input-multiple-output plant containing uncertain nonsmooth hysteresis-like nonlinearities in actuator and sensor devices simultaneously. To this purpose, robust sliding mode controller, based on reduced order observer, has been designed using it, such control law ensuring both asymptotical sensing boundedness unavailable states. Theoretical results have validated by simulation.

This paper tackles the eigenvalue allocation problem through an appropriate choice of edge weights for class <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">combinatorially-symmetric</i> Laplacian matrices acyclic graphs, namely showing symmetric zero/nonzero values in its entries according to a tree graph pattern. The mathematical setting is remarkably suited several current multi-agent systems engineering applications, when communication...

In this paper, a distributed algorithm for reaching average consensus is proposed multi-agent systems with tree communication graph, when the edge weight distribution unbalanced. First, problem introduced as key topic of core algorithms several modern scenarios. Then, relative solution finite-time algorithm, which can be included in any application preliminary setup routine, and it well-suited to integrated other adaptive routines, thus making useful practical applications. A special focus...

We consider the problem of accelerating convergence to consensus a network homogeneous high-order agents, through injection an additional control input performed by leader. After brief set-up description, we derive characteristic polynomial resulting system under leader's control. introduce concept leader controlled distributed consensus, imposing that action improves speed but does not affect value, except possibly for scaling factor. Finally, prove that, certain assumptions, can be...

This paper investigates the effects of either an edge or a node disconnection on multi-agent consensus network, consisting N agents that are modeled as simple scalar and discrete-time integrators. The communication among is described by weighted undirected graph. first part addresses case summarizes main results obtained in [29]. In particular, we show if does not affect connectedness whole it even final value. Discernibility faulty network from original one investigated both states all...

Most cooperative motion tasks of multi vehicle systems require the agents to share relative localization information. Assuming velocity vehicles be known, under suitable observability conditions, among a pair can performed based on single range measurements. The problem addressed consists in designing solution for networked group measuring mutual ranges: particular, objective is exploit presence intra-vehicle communications enhance range-based position estimation. Geometrical constraints...

In this paper, a distributed algorithm for reaching average consensus is proposed multi-agent systems with tree communication graph, when the edge weight distribution unbalanced. First, problem introduced as key topic of core algorithms several modern scenarios. Then, relative solution finite-time algorithm, which can be included in any application preliminary setup routine, and it well-suited to integrated other adaptive routines, thus making useful practical applications. A special focus...

In this paper, a leader motion mechanism is studied for the finite time achievement of any desired formation multi-agent system. The approach adopted in paper exploits recent technique based on to control problem second-order systems, with special effort networks mobile devices and teams vehicles. After thorough description framework, designed accomplish prescribed attainment time. Both asymptotic transient behavior are thoroughly analyzed, derive appropriate analytical conditions controller...

This paper proposes an algorithm for planning C∞ paths with bound curvature and derivative linking two fixed (initial final) configurations passing through a given number of intermediate via-points. The proposed solution is derived solving optimization problem such that smooth curve bounded approximates Dubin's shortest paths. effectiveness strategy verified by simulations. Preliminary experimental results are also briefly described.