Control of Homogeneous Linear Multiagent Networks in the Presence of a Misbehaving Node*
Emre Yildirim, Tansel Yucelen, Deniz Kurtoglu · IFAC-PapersOnLine · 2022
This paper focuses on a multiagent network with homogeneous linear time-invariant node dynamics, where nodes exchange their local state information with each other. Specifically, we consider the case when there exists a misbehaving node in this multiagent network that is subject to a disturbance. To suppress the undesired effects of this misbehaving node in the overall multiagent network, we propose a control architecture to be executed by the driver node. A detailed closed-loop system analysis is presented that reveals how the driver node needs to be selected to allow the states of nodes belonging to a portion of the multiagent network (or all nodes) approach a desired synchronization state generated by an exosystem. The efficacy of the proposed control architecture is also demonstrated through illustrative numerical examples.