Research Information System
IEEE Control Systems Letters, vol.4, no.2, pp.456-461, 2020 (ESCI, Scopus)
We focus on multiagent systems that involve agents exchanging local information through a fixed, connected, and undirected graph. In the presence of an agent subject to a disturbance (i.e., misbehaving agent), we investigate the stability and the steady-state value of the multiagent system when a proportional-integral controller is applied to a selected agent only (i.e., the driver agent) due to limited resources. Specifically, we first show that the employment of the proportional-integral controller in the driver agent makes the resulting closed-loop system matrix Hurwitz. We next derive the steady-state value of the multiagent system when the controller is respectively applied to an undisturbed agent and the misbehaving agent. For fixed, connected, and undirected acyclic graphs, we finally utilize graph-theoretic tools in order to explicitly calculate the steady-state values of all agents. To this end, we characterize several properties such as the minimization of the largest steady-state error in the multiagent system and the maximization of the number of agents having zero steady-state error.