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Item type:Publication, Access status: without files , Distributed H₂Controller Synthesis for Multi-Agent Systems with Stochastic Packet LossIn practical networking scenarios, communication links can rarely be considered to be deterministic, yet the influence of stochastic interconnections on multi-agent systems is neglected most of the time. To bridge this gap, this paper develops synthesis conditions for distributed state- and output-feedback controllers that guarantee an upper bound on the closed-loop H2-norm under the effect of Bernoulli distributed packet loss. Utilizing the frameworks of Markov jump linear system and decomposable systems, the synthesis problem is formulated as a linear matrix inequality problem with complexity that scales linearly with the number of agents. Finally, the closed-loop performance is assessed in simulation studies with a signal-to-interference-plus-noise ratio based packet loss model for communication between autonomous underwater vehicles.Publicationtype: Conference Paper24 - Some of the metrics are blocked by yourconsent settings
Item type:Publication, Access status: without files , Finite State Markov Modeling of C-V2X Erasure Links For Performance and Stability Analysis of Platooning ApplicationsCooperative driving systems, such as platooning, rely on communication and information exchange to create situational awareness for each agent. Design and performance of control components are therefore tightly coupled with communication component performance. The information flow between vehicles can significantly affect the dynamics of a platoon. Therefore, both the performance and the stability of a platoon depend not only on the vehicle's controller but also on the information flow Topology (IFT). The IFT can cause limitations for certain platoon properties, i.e., stability and scalability. Cellular Vehicle-To-Everything (C-V2X) has emerged as one of the main communication technologies to support connected and automated vehicle applications. As a result of packet loss, wireless channels create random link interruption and changes in network topologies. In this paper, we model the communication links between vehicles with a first-order Markov model to capture the prevalent time correlations for each link. These models enable performance evaluation through better approximation of communication links during system design stages. Our approach is to use data from experiments to model the Inter-Packet Gap (IPG) using Markov chains and derive transition probability matrices for consecutive IPG states. Training data is collected from high fidelity simulations using models derived based on empirical data for a variety of different vehicle densities and communication rates. Utilizing the IPG models, we analyze the mean-square stability of a platoon of vehicles with the standard consensus protocol tuned for ideal communication and compare the degradation in performance for different scenarios. We additionally present some initial theoretical results that shed some light on the connection between the independent identical distributed (i.i. d.) modeling approach which neglects the time correlations in links and the proposed Markovian approach.Publicationtype: Conference Paper34 - Some of the metrics are blocked by yourconsent settings
Item type:Publication, Access status: without files , A Memory Weighted Protocol for Sampled-Data Systems Subjected to Packet Dropouts(2018-08-09); ; ; ; © 2018 AACC. We present a novel memory weighted protocol for consensus of first order agents under sampled-data communication subject to packet loses. Our protocol generalizes existing consensus protocols which consider lost packets as either switching topologies or time delays when a memory storage is available. It allows for a convex combination of these two strategies still maintaining the necessary row stochasticity. We use the L2 joint spectral radius to analyze the convergence characteristics of our protocol. A theoretical analysis of our protocol is presented for different parameter regimes and supported by numerical simulations.Publicationtype: Conference Paper203