Human-in-the-loop Control of Distributed Multi-Agent Systems: A Relative Input-Output Approach

Bahare Kiumarsi, Tamer Basar

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

The paper considers distributed control of human-in-the-loop multi-agent systems (MASs) using only relative input-output measurements. A human supervises the team through broadcasting a command signal to only one agent, called the leader, in response to any changes. To impose the human control signal, the leader needs to be a non-autonomous agent. All followers autonomously synchronize to the leader by locally interacting with each other over a communication graph and using only the relative input-output information. To decrease the communication burden, a novel distributed observer is presented for leader-follower MASs with non-autonomous leaders to approximate the relative state information of the agents. To obviate the requirement of knowing an upper bound on the human input, each agent adaptively estimates the human force by communicating its estimation with its neighbors. It is shown that the gain margin of the proposed distributed observer is infinity. The provided simulation results show effectiveness of the proposed method.

Original languageEnglish (US)
Title of host publication2018 IEEE Conference on Decision and Control, CDC 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages3343-3348
Number of pages6
ISBN (Electronic)9781538613955
DOIs
StatePublished - Jan 18 2019
Event57th IEEE Conference on Decision and Control, CDC 2018 - Miami, United States
Duration: Dec 17 2018Dec 19 2018

Publication series

NameProceedings of the IEEE Conference on Decision and Control
Volume2018-December
ISSN (Print)0743-1546

Conference

Conference57th IEEE Conference on Decision and Control, CDC 2018
CountryUnited States
CityMiami
Period12/17/1812/19/18

Keywords

  • Distributed control
  • Human-in-the-loop
  • Multi-agent systems

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization

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  • Cite this

    Kiumarsi, B., & Basar, T. (2019). Human-in-the-loop Control of Distributed Multi-Agent Systems: A Relative Input-Output Approach. In 2018 IEEE Conference on Decision and Control, CDC 2018 (pp. 3343-3348). [8618994] (Proceedings of the IEEE Conference on Decision and Control; Vol. 2018-December). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC.2018.8618994