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Characterization of Transient and Steady-State Behavior of Leader-Follower Configuration of MAS with Varying Communication Range


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DOI: https://doi.org/10.15866/ireaco.v15i3.22017

Abstract


This paper focuses on the novel perception of transient instabilities in leader-follower flocking configuration of Multi-Agent Systems (MAS), i.e., a variation in spatial communication range leads to increasing amplitude oscillations throughout the transient period, which results in deviating away from leader’s trajectory profile. This instability does not appear in the steady-state and is dominant during the transient phase of the system, as each agent uses distributed adaptive control law. This paper presents a rigorous definition of inequality constraint for showing disruption in communication among agents. Unlike the previous studies focusing only on the use of communication range, this paper deals with the choice of selection of this communication range for identifying completely connected, completely disconnected and partially disconnected MAS. The transient instability is observed for partially disconnected MAS with spatial communication range far away from the position band. The steady-state stability occurs at 18s for partially disconnected MAS and with larger average position error. The numerical simulation results ensure adherence to Reynolds’s rules in flocking for completely connected scenario and facilitate the cohesive nature among agents for communication range within the position band.
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Keywords


Leader-Follower; Connectivity; Spatial; Communication Range; Transient; Steady-State

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References


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