Robustness and Invariance of Connectivity Maintenance Control for Multiagent Systems
Dimitris Boskos, Dimos V. Dimarogonas · SIAM Journal on Control and Optimization · 2017
This paper is focused on a cooperative control design which guarantees robust connectivity and invariance of a multiagent network inside a bounded domain, under the presence of additional bounded input terms in each agent's dynamics. In particular, under the assumptions that the domain is convex and has a smooth boundary, we can design a repulsion vector field near its boundary, which ensures invariance of the agents' trajectories and does not affect the robustness properties of the control part that is exploited for connectivity maintenance.