A privacy preserving distributed controller for the general formation of multi-agent systems in port-Hamiltonian form

Authors

Jingyi Zhao, Yongxin Wu, Yuhu Wu, Yann Le Gorrec

Abstract

This paper considers the general formation control problem under the port-Hamiltonian framework and proposes a method to meet the requirements of general formation control while protecting agent privacy. First, the general formation control problem is expressed as an optimization problem whose solution satisfies the requirements of the general formation. To protect the sensitive data of each agent, a distributed controller is designed through the desired general formation output dynamic, which still maintains a port-Hamiltonian form, making the Hamiltonian function the natural choice for the Lyapunov function candidate. It is then shown that the designed system converges exponentially to the global optimum of the optimization problem. Finally, simulations on an application case, namely underactuated unmanned surface vehicles with different parameters are provided to verify the effectiveness of the proposed method.

Keywords

General formation control; Port-Hamiltonian systems; Distributed control; Multi-agent systems; Privacy preserving

Citation

• Journal: Automatica
• Year: 2025
• Volume: 179
• Issue:
• Pages: 112452
• Publisher: Elsevier BV
• DOI: 10.1016/j.automatica.2025.112452

BibTeX

@article{Zhao_2025,
  title={{A privacy preserving distributed controller for the general formation of multi-agent systems in port-Hamiltonian form}},
  volume={179},
  ISSN={0005-1098},
  DOI={10.1016/j.automatica.2025.112452},
  journal={Automatica},
  publisher={Elsevier BV},
  author={Zhao, Jingyi and Wu, Yongxin and Wu, Yuhu and Gorrec, Yann Le},
  year={2025},
  pages={112452}
}

Download the bib file

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