Journal ArticleDOI
Consensus of Multiagent Systems and Synchronization of Complex Networks: A Unified Viewpoint
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In this article, a distributed observer-type consensus protocol based on relative output measurements is proposed to solve the consensus problem of multi-agent systems with a time-invariant communication topology consisting of general linear node dynamics.Abstract:Â
This paper addresses the consensus problem of multiagent systems with a time-invariant communication topology consisting of general linear node dynamics. A distributed observer-type consensus protocol based on relative output measurements is proposed. A new framework is introduced to address in a unified way the consensus of multiagent systems and the synchronization of complex networks. Under this framework, the consensus of multiagent systems with a communication topology having a spanning tree can be cast into the stability of a set of matrices of the same low dimension. The notion of consensus region is then introduced and analyzed. It is shown that there exists an observer-type protocol solving the consensus problem and meanwhile yielding an unbounded consensus region if and only if each agent is both stabilizable and detectable. A multistep consensus protocol design procedure is further presented. The consensus with respect to a time-varying state and the robustness of the consensus protocol to external disturbances are finally discussed. The effectiveness of the theoretical results is demonstrated through numerical simulations, with an application to low-Earth-orbit satellite formation flying.read more
Citations
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Journal ArticleDOI
An Overview of Recent Progress in the Study of Distributed Multi-Agent Coordination
TL;DR: In this article, the authors reviewed some main results and progress in distributed multi-agent coordination, focusing on papers published in major control systems and robotics journals since 2006 and proposed several promising research directions along with some open problems that are deemed important for further investigations.
Journal ArticleDOI
A survey of multi-agent formation control
TL;DR: A survey of formation control of multi-agent systems focuses on the sensing capability and the interaction topology of agents, and categorizes the existing results into position-, displacement-, and distance-based control.
Posted Content
An Overview of Recent Progress in the Study of Distributed Multi-agent Coordination
TL;DR: In this paper, the authors reviewed some main results and progress in distributed multi-agent coordination, focusing on papers published in major control systems and robotics journals since 2006, and proposed several promising research directions along with some open problems that are deemed important for further investigations.
Journal ArticleDOI
Optimal Design for Synchronization of Cooperative Systems: State Feedback, Observer and Output Feedback
TL;DR: It is shown that unbounded synchronization regions that achieve synchronization on arbitrary digraphs containing a spanning tree can be guaranteed by using linear quadratic regulator based optimal control and observer design methods at each node.
Journal ArticleDOI
Adaptive cooperative tracking control of higher-order nonlinear systems with unknown dynamics
Hongwei Zhang,Frank L. Lewis +1 more
TL;DR: A practical design method is developed for cooperative tracking control of higher-order nonlinear systems with a dynamic leader using a robust adaptive neural network controller for each follower node such that all follower nodes ultimately synchronize to the leader node with bounded residual errors.
References
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Journal ArticleDOI
Consensus problems in networks of agents with switching topology and time-delays
TL;DR: A distinctive feature of this work is to address consensus problems for networks with directed information flow by establishing a direct connection between the algebraic connectivity of the network and the performance of a linear consensus protocol.
Journal ArticleDOI
Consensus and Cooperation in Networked Multi-Agent Systems
TL;DR: A theoretical framework for analysis of consensus algorithms for multi-agent networked systems with an emphasis on the role of directed information flow, robustness to changes in network topology due to link/node failures, time-delays, and performance guarantees is provided.
Journal ArticleDOI
Synchronization in chaotic systems
TL;DR: This chapter describes the linking of two chaotic systems with a common signal or signals and highlights that when the signs of the Lyapunov exponents for the subsystems are all negative the systems are synchronized.
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Algebraic Graph Theory
Chris Godsil,Gordon F. Royle +1 more
TL;DR: The Laplacian of a Graph and Cuts and Flows are compared to the Rank Polynomial.
Journal ArticleDOI
Coordination of groups of mobile autonomous agents using nearest neighbor rules
Ali Jadbabaie,Jie Lin,A.S. Morse +2 more
TL;DR: A theoretical explanation for the observed behavior of the Vicsek model, which proves to be a graphic example of a switched linear system which is stable, but for which there does not exist a common quadratic Lyapunov function.
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