Robust consensus for linear multi-agent systems with structured uncertainties
TL;DR: A distributed dynamic output-feedback protocol is proposed, which utilises not only relative output Information of neighbouring agents but also relative state information of neighbouring controllers to solve the robust consensus problem for linear multi-agent systems subject to structured uncertainty and external disturbances under the leaderless framework.
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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TL;DR: The state-of-the-art development in the consensus of MASs is reviewed, including consensus subjected to communication constraints, leader-following consensus, group consensus, consensus based on trigger mechanism, finite-time consensus, multi-consensus and multi-tracking.
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...
49 citations
Cites background from "Robust consensus for linear multi-a..."
...A distributed dynamic output feedback protocol is proposed for theMASswith structured uncertainty and external disturbance in Xue, Wu, and Yuan (2019), which utilizes not only relative output information of neighbouring agents but also relative state information of neighbours....
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TL;DR: To solve the secure H ∞ consensus problems of multiagent systems under switching topologies, some modified definitions are presented and some graph-based Lyapunov functions, which are based on the solutions of some Lyap unov equations and the graph information, are designed for the H∞ performance analysis.
7 citations
01 Jan 2022
TL;DR: In this article , a distributed consensus protocol is developed by using an integral sliding mode strategy, which avoids any sensitivity to uncertainties during the reaching phase, and the size of the equivalent control required to maintain sliding is reduced.
Abstract: In this paper, a consensus framework is proposed for a class of linear multiagent systems subject to matched and unmatched uncertainties in an undirected topology. A linear coordinate transformation is derived so that the consensus protocol design can be conveniently performed. The distributed consensus protocol is developed by using an integral sliding mode strategy. Consensus is achieved asymptotically and all subsystem states are bounded. By using an integral sliding mode control, the subsystems lie on the sliding surface from the initial time, which avoids any sensitivity to uncertainties during the reaching phase. By use of an appropriate projection matrix, the size of the equivalent control required to maintain sliding is reduced which reduces the conservatism of the design. MATLAB simulations validate the effectiveness and superiority of the proposed method.
5 citations
TL;DR: This study addresses the consensus problem in nonlinear multi-agent systems with the distributed impulsive control method and finds a distributed event-triggered impulsive method that reduces communication wastage.
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...
5 citations
Cites background from "Robust consensus for linear multi-a..."
...A large number of consensus control schemes for MASs have been proposed, such as robust control (Gong and Lan, 2018; Xue et al., 2019), distributed optimal control (Tao et al....
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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.
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.
11,658 citations
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.
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.
8,233 citations
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.
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.
6,135 citations
TL;DR: Theoretical results regarding consensus-seeking under both time invariant and dynamically changing communication topologies are summarized in this paper, where several specific applications of consensus algorithms to multivehicle coordination are described.
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
3,028 citations