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Control of multiagent networks with misbehaving nodes
International Journal of Systems Science ( IF 4.3 ) Pub Date : 2021-04-30 , DOI: 10.1080/00207721.2021.1910875
Emre Yildirim 1 , Tansel Yucelen 1
Affiliation  

ABSTRACT

We study multiagent networks with floating, driver, and unmodelled nodes, where floating nodes exchange local information, driver nodes not only exchange local information but also take input and output roles, and unmodelled nodes have an unknown but bounded behaviour. Specifically, we consider the presence of misbehaving nodes within the floating and driver nodes in addition to the misbehaviours resulting from the unmodelled nodes, and propose a feedback control approach applied to the driver nodes for suppressing the effect of all misbehaving nodes in the multiagent network. We show closed-loop stability with the proposed approach, where the driver nodes asymptotically or closely follow a given command and the remaining nodes may also follow this command or remain bounded depending on the location of driver nodes in the multiagent network. Considering limited resources in that the number of driver nodes is generally fewer than the number of floating nodes, we further characterize the effect of the location of the driver nodes to closed-loop stability. Our findings reveal how the driver nodes need to be selected for isolating the effect of misbehaving nodes in certain portions of the multiagent network such that the nodes in those portions also follow the given command.



中文翻译:

控制行为异常节点的多代理网络

摘要

我们研究具有浮动、驱动程序和未建模节点的多代理网络,其中浮动节点交换本地信息,驱动程序节点不仅交换本地信息,还承担输入和输出角色,未建模节点具有未知但有界的行为。具体来说,除了未建模节点导致的不当行为外,我们还考虑了浮动节点和驱动程序节点中行为不当节点的存在,并提出了一种应用于驱动程序节点的反馈控制方法,以抑制多代理网络中所有行为不当节点的影响。我们使用所提出的方法显示了闭环稳定性,其中驱动程序节点渐近或紧密地遵循给定的命令,其余节点也可能遵循该命令或根据驱动程序节点在多代理网络中的位置保持有界。考虑到资源有限,驱动节点的数量通常少于浮动节点的数量,我们进一步表征了驱动节点的位置对闭环稳定性的影响。我们的研究结果揭示了如何选择驱动程序节点来隔离多代理网络某些部分中行为不端的节点的影响,以便这些部分中的节点也遵循给定的命令。

更新日期:2021-04-30
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