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Journal ArticleDOI: 10.1080/00207179.2019.1612096

Robust consensus for linear multi-agent systems with structured uncertainties

04 Mar 2021-International Journal of Control (Taylor & Francis)-Vol. 94, Iss: 3, pp 675-686
Abstract: This paper addresses a robust H∞ consensus problem for linear multi-agent systems subject to structured uncertainty and external disturbances under the leaderless framework. A distributed dynamic o...

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Topics: Consensus (55%)

6 results found

Open accessJournal ArticleDOI: 10.1080/21642583.2019.1695689
Yanjiang Li1, Chong Tan2Institutions (2)
Abstract: Multi-agent systems (MASs) has developed into an emerging complex system science and gradually infiltrated into various fields of social life. The problem of consensus (i.e. all agents eventually t...

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Topics: Multi-agent system (56%)

17 Citations

Journal ArticleDOI: 10.1016/J.INS.2021.03.054
Shengli Du1, Shengli Du2, Yue-E Wang3, Lijing Dong4  +1 moreInstitutions (4)
Abstract: This paper is concerned with the secure consensus problem of multiagent systems under switching topologies. The studied multiagent systems are affected by both denial-of-service (DoS) attacks and external disturbances . To solve the secure H ∞ consensus problems, some modified definitions are presented. Some graph-based Lyapunov functions , which are based on the solutions of some Lyapunov equations and the graph information , are also designed for the H ∞ performance analysis. Moreover, graph-based frequency and durations have also been presented for attaining the expected system performance. The stabilization controllers are also developed based on the solutions to some Lyapunov equations and an algebraic Riccati equation (ARE), which are easy to acquire. Some simulations are provided to validate the feasibility of the proposed scheme.

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Topics: Graph (abstract data type) (62%), Lyapunov function (58%), Algebraic Riccati equation (56%) ... show more

1 Citations

Journal ArticleDOI: 10.1177/1077546320985978
Wenyan Tang1, Kun Li1, Jia Wu1, Yongfang Xie1Institutions (1)
Abstract: This study addresses the consensus problem in nonlinear multi-agent systems with the distributed impulsive control method. To decrease communication wastage, a distributed event-triggered impulsive...

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Topics: Consensus (56%)


35 results found

Open accessJournal ArticleDOI: 10.1109/TAC.2004.834113
Reza Olfati-Saber1, Richard M. Murray1Institutions (1)
Abstract: In this paper, we discuss consensus problems for networks of dynamic agents with fixed and switching topologies. We analyze three cases: 1) directed networks with fixed topology; 2) directed networks with switching topology; and 3) undirected networks with communication time-delays and fixed topology. We introduce two consensus protocols for networks with and without time-delays and provide a convergence analysis in all three cases. We establish a direct connection between the algebraic connectivity (or Fiedler eigenvalue) of the network and the performance (or negotiation speed) of a linear consensus protocol. This required the generalization of the notion of algebraic connectivity of undirected graphs to digraphs. It turns out that balanced digraphs play a key role in addressing average-consensus problems. We introduce disagreement functions for convergence analysis of consensus protocols. A disagreement function is a Lyapunov function for the disagreement network dynamics. We proposed a simple disagreement function that is a common Lyapunov function for the disagreement dynamics of a directed network with switching topology. A distinctive feature of this work is to address consensus problems for networks with directed information flow. We provide analytical tools that rely on algebraic graph theory, matrix theory, and control theory. Simulations are provided that demonstrate the effectiveness of our theoretical results.

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Topics: Consensus dynamics (65%), Uniform consensus (61%), Network topology (57%) ... show more

10,379 Citations

Open accessJournal ArticleDOI: 10.1109/TAC.2003.812781
Ali Jadbabaie1, Jie Lin1, A.S. Morse1Institutions (1)
Abstract: In a recent Physical Review Letters article, Vicsek et al. propose a simple but compelling discrete-time model of n autonomous agents (i.e., points or particles) all moving in the plane with the same speed but with different headings. Each agent's heading is updated using a local rule based on the average of its own heading plus the headings of its "neighbors." In their paper, Vicsek et al. provide simulation results which demonstrate that the nearest neighbor rule they are studying can cause all agents to eventually move in the same direction despite the absence of centralized coordination and despite the fact that each agent's set of nearest neighbors change with time as the system evolves. This paper provides a theoretical explanation for this observed behavior. In addition, convergence results are derived for several other similarly inspired models. The Vicsek model 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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7,860 Citations

MonographDOI: 10.1017/CBO9780511810817
01 Jan 1985-
Topics: Filtered algebra (84%), Cellular algebra (82%), Quaternion algebra (79%) ... show more

7,511 Citations

Journal ArticleDOI: 10.1109/TAC.2005.846556
Wei Ren1, Randal W. Beard2Institutions (2)
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.

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Topics: Uniform consensus (63%), Consensus dynamics (61%), Consensus (55%) ... show more

5,451 Citations

Open accessJournal ArticleDOI: 10.1109/MCS.2007.338264
Wei Ren1, Randal W. Beard2, Ella M. Atkins3Institutions (3)
Abstract: The purpose of this article is to provide a tutorial overview of information consensus in multivehicle cooperative control. Theoretical results regarding consensus-seeking under both time invariant and dynamically changing communication topologies are summarized. Several specific applications of consensus algorithms to multivehicle coordination are described

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Topics: Uniform consensus (60%), Directed graph (52%)

2,728 Citations

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