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Compositional design for time-varying and nonlinear coordination

Hansson, Jonas LU orcid and Tegling, Emma LU (2025) In arXiv.org
Abstract
This work addresses the design of multi-agent coordination through high-order consensus protocols. While first-order consensus strategies are well-studied—with known robustness to uncertainties such as time delays, time-varying weights, and nonlinearities like saturations—the theoretical guarantees for high-order consensus are comparatively limited. We propose a compositional control framework that generates high-order consensus protocols by serially connecting stable first-order consensus operators. Under mild assumptions, we establish that the resulting high-order system inherits stability properties from its components. The proposed design is versatile and supports a wide range of real-world constraints. This is demonstrated through... (More)
This work addresses the design of multi-agent coordination through high-order consensus protocols. While first-order consensus strategies are well-studied—with known robustness to uncertainties such as time delays, time-varying weights, and nonlinearities like saturations—the theoretical guarantees for high-order consensus are comparatively limited. We propose a compositional control framework that generates high-order consensus protocols by serially connecting stable first-order consensus operators. Under mild assumptions, we establish that the resulting high-order system inherits stability properties from its components. The proposed design is versatile and supports a wide range of real-world constraints. This is demonstrated through applications inspired by vehicular formation control, including protocols with time-varying weights, bounded time-varying delays, and saturated inputs. We derive theoretical guarantees for these settings using the proposed compositional approach and demonstrate the advantages gained compared to conventional protocols in simulations. (Less)
Please use this url to cite or link to this publication:
author
and
organization
publishing date
type
Contribution to journal
publication status
unpublished
subject
in
arXiv.org
publisher
Cornell University Library
ISSN
2331-8422
project
Performance, Controllability, and Robustness of Large-Scale and Non-Normal Network Systems
language
English
LU publication?
yes
id
4c042832-d496-407c-b05a-d5e87039722a
alternative location
https://doi.org/10.48550/arXiv.2504.07226
date added to LUP
2025-04-29 09:56:11
date last changed
2025-05-15 10:16:30
@article{4c042832-d496-407c-b05a-d5e87039722a,
  abstract     = {{This work addresses the design of multi-agent coordination through high-order consensus protocols. While first-order consensus strategies are well-studied—with known robustness to uncertainties such as time delays, time-varying weights, and nonlinearities like saturations—the theoretical guarantees for high-order consensus are comparatively limited. We propose a compositional control framework that generates high-order consensus protocols by serially connecting stable first-order consensus operators. Under mild assumptions, we establish that the resulting high-order system inherits stability properties from its components. The proposed design is versatile and supports a wide range of real-world constraints. This is demonstrated through applications inspired by vehicular formation control, including protocols with time-varying weights, bounded time-varying delays, and saturated inputs. We derive theoretical guarantees for these settings using the proposed compositional approach and demonstrate the advantages gained compared to conventional protocols in simulations.}},
  author       = {{Hansson, Jonas and Tegling, Emma}},
  issn         = {{2331-8422}},
  language     = {{eng}},
  publisher    = {{Cornell University Library}},
  series       = {{arXiv.org}},
  title        = {{Compositional design for time-varying and nonlinear coordination}},
  url          = {{https://doi.org/10.48550/arXiv.2504.07226}},
  year         = {{2025}},
}