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Proceedings ArticleDOI

Robust H ∞ tracking consensus for nonlinear multi-agent systems with time-varying delay

TL;DR: The distributed robust H∞ consensus problem for second-order multi-agent systems with time-varying delay and nonlinear dynamics is considered and Lyapunov functional theory and linear matrices inequality(LMI) method is used.
Abstract: The distributed robust H ∞ consensus problem for second-order multi-agent systems with time-varying delay and nonlinear dynamics is considered in this paper. Considering the multi-agent systems with external disturbances and model uncertainty, the consensus control protocols are designed and analyzed. By Lyapunov functional theory and linear matrices inequality(LMI) method, some sufficient conditions are given to ensure the multi-agent systems can reach consensus with the given H ∞ performance.
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Journal ArticleDOI
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


"Robust H ∞ tracking consensus for n..." refers background in this paper

  • ...Olfati-Saber and Murray [2] presented a systematic framework to analyze the first-order consensus algorithms, and showed that the consensus problem can be solved if the diagraph is strongly connected....

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  • ...[2] R. Oifati-Saber, M. Murray, Consensus problems in networks of agents with switching topology and time-delays, IEEE Transactions on Automatic Control, 49 (9): 1520-1523, 2004....

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01 Jan 1994

11,176 citations


"Robust H ∞ tracking consensus for n..." refers background in this paper

  • ...Lemma 2[15] Given a symmetric matrix 11 12...

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Journal ArticleDOI
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


"Robust H ∞ tracking consensus for n..." refers result in this paper

  • ...And some other researchers further studied the first-order multi-agent systems and gave some meaningful results[3-6]....

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Book
01 Jan 1968

1,863 citations

Proceedings ArticleDOI
08 Jun 2005
TL;DR: A survey of consensus problems in multi-agent cooperative control with the goal of promoting research in this area is provided in this paper, where theoretical results regarding consensus seeking under both time-invariant and dynamically changing information exchange topologies are summarized.
Abstract: As a distributed solution to multi-agent coordination, consensus or agreement problems have been studied extensively in the literature. This paper provides a survey of consensus problems in multi-agent cooperative control with the goal of promoting research in this area. Theoretical results regarding consensus seeking under both time-invariant and dynamically changing information exchange topologies are summarized. Applications of consensus protocols to multiagent coordination are investigated. Future research directions and open problems are also proposed.

1,382 citations