Journal ArticleDOI
A Mean Square Consensus Protocol for Linear Multi-Agent Systems With Communication Noises and Fixed Topologies
TLDR
It is proved that if the communication topology has a spanning tree and every node has at least one parent node, then the proposed protocol can solve the mean square consensus problem if and only if a(t) satisfies the condition.Abstract:
The mean square consensus of linear multi-agent systems with communication noises is studied in this note. Each agent is modeled by a continuous-time linear time-invariant dynamics and the fixed communication topology is described by a digraph. The proposed consensus protocol is composed of two parts: the agent's own state feedback and the relative states between agent and its neighbor agents. Due to the existence of communication noises, the relative states cannot be obtained accurately. To attenuate the noise effect, a time-varying gain vector a(t)K is applied to the inaccurate relative states. It is proved that: 1) if the communication topology has a spanning tree and every node has at least one parent node, then the proposed protocol can solve the mean square consensus problem if and only if a(t) satisfies ∫0∞a(s)ds = ∞ and ∫0∞ a2(s)ds <; ∞; and all roots of the polynomial whose coefficients are the elements of vector K are in the left half complex plane; 2) if the communication topology has a spanning tree and there exists one node without any parent node, then the condition ∫0∞ a2(s)ds <; ∞ is only sufficient but not necessary; and 3) if the communication topology has no spanning tree, then the proposed protocol cannot solve the mean square consensus problem.read more
Citations
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Journal ArticleDOI
Robot manipulator control using neural networks: A survey
TL;DR: The problem foundation of manipulator control and the theoretical ideas on using neural network to solve this problem are analyzed and then the latest progresses on this topic in recent years are described and reviewed in detail.
Journal ArticleDOI
Seeking Consensus in Networks of Linear Agents: Communication Noises and Markovian Switching Topologies
TL;DR: The stochastic consensus problem of linear multi-input multi-output (MIMO) multi-agent systems (MASs) with communication noises and Markovian switching topologies is studied in this technical note.
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Distributed Noise-Resilient Secondary Voltage and Frequency Control for Islanded Microgrids
TL;DR: Simulation results and comparison with previous work reveals the effectiveness of the proposed method in regulating microgrid voltage and frequency and providing accurate proportional real power sharing.
Journal ArticleDOI
Observer-Based Consensus Tracking of Nonlinear Agents in Hybrid Varying Directed Topology
TL;DR: The leader-following consensus problem in hybrid varying directed topology is first addressed, and an online leader switching method is proposed, which reduces the dependence on some global conditions and the connectivity assumptions on the selection of leaders.
Journal ArticleDOI
Consensus Control of General Linear Multiagent Systems With Antagonistic Interactions and Communication Noises
TL;DR: This technical note considers a consensus problem of high-order multiagent systems with antagonistic interactions and communication noises and a novel stochastic-approximation based control strategy is designed for each agent by using the relative state information from its neighbors.
References
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Journal ArticleDOI
Consensus seeking in multiagent systems under dynamically changing interaction topologies
Wei Ren,Randal W. Beard +1 more
TL;DR: It is shown that information consensus under dynamically changing interaction topologies can be achieved asymptotically if the union of the directed interaction graphs have a spanning tree frequently enough as the system evolves.
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Information flow and cooperative control of vehicle formations
J.A. Fax,Richard M. Murray +1 more
TL;DR: A Nyquist criterion is proved that uses the eigenvalues of the graph Laplacian matrix to determine the effect of the communication topology on formation stability, and a method for decentralized information exchange between vehicles is proposed.
Journal ArticleDOI
Information flow and cooperative control of vehicle formations
TL;DR: It is demonstrated how exchange of minimal amounts of information between vehicles can be designed to realize a dynamical system which supplies each vehicle with a shared reference trajectory.
Journal ArticleDOI
Consensus Conditions of Multi-Agent Systems With Time-Varying Topologies and Stochastic Communication Noises
Tao Li,Ji-Feng Zhang +1 more
TL;DR: This paper investigates the average-consensus problem of first-order discrete-time multi-agent networks in uncertain communication environments and finds that if the network switches between jointly-containing-spanning-tree, instantaneously balanced graphs, then the designed protocol can guarantee that each individual state converges to a common random variable.
Journal ArticleDOI
Network Topology and Communication Data Rate for Consensusability of Discrete-Time Multi-Agent Systems
Keyou You,Lihua Xie +1 more
TL;DR: In this article, a necessary and sufficient condition for consensusability under a common control protocol is given, which explicitly reveals how the intrinsic entropy rate of the agent dynamic and the communication graph jointly affect consensusability.
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