The distinctive feature of this work is to address attitude coordinated control with model uncertainties, unknown disturbances and time-varying delays in a decentralized framework, with a strongly connected directed information flow.
In this paper we address the problem of coordinating a group of multi-agent under directed information flow along a three-dimensional reference path with spatial but without temporal constraints.
A distinctive feature of this work is to address the adaptive attitude synchronization with unknown parameters and coupling time delay in a unified theoretical framework, with general directed information flow.
There is, however, a fundamental shortcoming to lagged mutual information as a measure of directed information flow: it fails to take into account shared history between processes.
Thus one might consider, say, I(X t : Yt−1,Yt−2,…) as a candidate measure for directed information flow from the pastb of Y to the present of X.
Given that lagged mutual information is likely to be a misleading indicator of time-directed information flow (see Section "Transfer entropy and granger causality"), the study was recently repeated using transfer entropy.
On this basis, Olfati-Saber et al. [94] presented a theoretical framework for analysis of consensus algorithms for networked multi-agent systems with fixed or dynamic topology and directed information flow.
In his seminal paper (Schreiber2000), Schreiber recognised that this could lead to spurious imputation of directed information flow and introduced a new measure (Kaiser and Schreiber2002; Schreiber2000) which explicitly takes account of a "shared past" between processes.
Transfer entropy generally yields fewer significant information flows; this is consistent with the known deficiencies of lagged mutual information as a measure of directed information flow, whereby spurious information flows may be reported due to shared historical influences (Section "Transfer entropy and granger causality").
Thus if there is e.g. significant information flow from X i → X j and also from X j → X k then it is likely that the information flow X i → X k will appear as significant too, even if there is no direct information flow from X k to x i ; i.e. the apparent information flow X i → X k is intermediated by X j.
