Journal ArticleDOI
Consensus seeking in multiagent systems under dynamically changing interaction topologies
Wei Ren,Randal W. Beard +1 more
Reads0
Chats0
TLDR
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.Abstract:
This note considers the problem of information consensus among multiple agents in the presence of limited and unreliable information exchange with dynamically changing interaction topologies. Both discrete and continuous update schemes are proposed for information consensus. This note shows 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.read more
Citations
More filters
Journal ArticleDOI
Adaptive Task-Space Cooperative Tracking Control of Networked Robotic Manipulators Without Task-Space Velocity Measurements
TL;DR: Adapt laws are provided to cope with uncertain kinematics and dynamics and rigorous stability analysis is given to show asymptotical convergence of the task-space tracking and synchronization errors in the presence of communication delays under strongly connected directed graphs.
Journal ArticleDOI
Fixed-Time-Synchronized Consensus Control of Multiagent Systems
TL;DR: A singularity-free sliding mode control law is designed to solve the fixed-time-synchronized consensus problem and is presented as a special kind of fixed/finite-time stability, where all the elements of the system state synchronously arrive at the equilibrium at the same time.
Journal ArticleDOI
Distributed output feedback consensus tracking prescribed performance control for a class of non-linear multi-agent systems with unknown disturbances
TL;DR: In this paper, the problem of distributed output feedback consensus tracking control for leader-following non-linear multi-agent systems in strict feedback form under a directed graph topology with prescribed performance requirement is studied.
Journal ArticleDOI
Multi-Agent Consensus Using Both Current and Outdated States with Fixed and Undirected Interaction
Yongcan Cao,Wei Ren +1 more
TL;DR: It is shown that the proposed algorithm converges faster than the standard consensus algorithm while requiring identical maximum control effort if the outdated states are chosen properly.
Posted Content
Cooperative Control of Linear Multi-Agent Systems via Distributed Output Regulation and Transient Synchronization
TL;DR: In this paper, a distributed output regulator for groups of identical and non-identical linear agents is proposed to improve the cooperative behavior of the group in transient phases and guarantee a desired decay rate of the synchronization error.
References
More filters
Book
Matrix Analysis
Roger A. Horn,Charles R. Johnson +1 more
TL;DR: In this article, the authors present results of both classic and recent matrix analyses using canonical forms as a unifying theme, and demonstrate their importance in a variety of applications, such as linear algebra and matrix theory.
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.
Book
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.
Related Papers (5)
Consensus problems in networks of agents with switching topology and time-delays
Coordination of groups of mobile autonomous agents using nearest neighbor rules
Ali Jadbabaie,Jie Lin,A.S. Morse +2 more