scholarly journals A Nonlinear Consensus Protocol of Multiagent Systems Considering Measuring Errors

2013 ◽  
Vol 2013 ◽  
pp. 1-8 ◽  
Author(s):  
Xiaochu Wang ◽  
Kaichun Zhao ◽  
Zheng You ◽  
Lungui Zheng
Keyword(s):  
Multiagent Systems ◽  
Energy Cost ◽  
Additional Condition ◽  
Consensus Protocol ◽  
Communication Topology ◽  
Measurement Uncertainties ◽  
Theoretical Analyses ◽  
Theoretical Results

In order to avoid a potential waste of energy during consensus controls in the case where there exist measurement uncertainties, a nonlinear protocol is proposed for multiagent systems under a fixed connected undirected communication topology and extended to both the cases with full and partial access a reference. Distributed estimators are utilized to help all agents agree on the understandings of the reference, even though there may be some agents which cannot access to the reference directly. An additional condition is also considered, where self-known configuration offsets are desired. Theoretical analyses of stability are given. Finally, simulations are performed, and results show that the proposed protocols can lead agents to achieve loose consensus and work effectively with less energy cost to keep the formation, which have illustrated the theoretical results.

scholarly journals Adaptive Guaranteed-Performance Consensus Control for Multi-Agent Systems with an Adjustable Convergence Speed

2019 ◽  
Vol 2019 ◽  
pp. 1-9 ◽  
Author(s):  
Haiying Ma ◽  
Xiao Jia ◽  
Ning Cai ◽  
Jianxiang Xi
Keyword(s):  
Multiagent Systems ◽  
Sufficient Conditions ◽  
Convergence Speed ◽  
Multi Agent Systems ◽  
Consensus Protocol ◽  
Consensus Control ◽  
Control Gain ◽  
Multi Agent ◽  
The Stability ◽  
Theoretical Results

In this paper, adaptive guaranteed-performance consensus control problems for multiagent systems with an adjustable convergence speed are investigated. A novel adaptive guaranteed-performance consensus protocol is proposed, where the communication weights can be adaptively regulated. By the state space decomposition method and the stability theory, sufficient conditions for guaranteed-performance consensus are obtained and the guaranteed-performance cost is determined. Moreover, the lower bound of the convergence coefficient for multiagent systems is deduced, which is linearly adjustable approximately by changing the adaptive control gain. Finally, simulation examples are introduced to demonstrate theoretical results.

scholarly journals Bipartite Consensus of Heterogeneous Multiagent Systems Based on Distributed Event-Triggered Control

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-14 ◽  
Author(s):  
Xiaoyu Wang ◽  
Kaien Liu ◽  
Zhijian Ji ◽  
Shitao Han
Keyword(s):  
Multiagent Systems ◽  
Sufficient Conditions ◽  
Input Delay ◽  
Consensus Problem ◽  
Consensus Protocol ◽  
Control Scheme ◽  
Event Triggering ◽  
Bipartite Consensus ◽  
Theoretical Results ◽  
Event Triggered

In this paper, the bipartite consensus problem of heterogeneous multiagent systems composed of first-order and second-order agents is considered by utilizing the event-triggered control scheme. Under structurally balanced directed topology, event-triggered bipartite consensus protocol is put forward, and event-triggering functions consisting of measurement error and threshold are designed. To exclude Zeno behavior, an exponential function is introduced in the threshold. The bipartite consensus problem is transformed into the corresponding stability problem by means of gauge transformation and model transformation. By virtue of Lyapunov method, sufficient conditions for systems without input delay are obtained to guarantee bipartite consensus. Furthermore, for the case with input delay, sufficient conditions which include an admissible upper bound of the delay are obtained to guarantee bipartite consensus. Finally, numerical simulations are provided to illustrate the effectiveness of the obtained theoretical results.

scholarly journals Consensus Learning Control for Leader-Following Nonlinear Multiagent Systems with Control Delay

2019 ◽  
Vol 2019 ◽  
pp. 1-10
Author(s):  
Xiongfeng Deng ◽  
Xiuxia Sun ◽  
Shuguang Liu
Keyword(s):  
Time Delay ◽  
Multiagent Systems ◽  
Iterative Learning Control ◽  
Learning Control ◽  
Control Delay ◽  
Consensus Tracking ◽  
Control Scheme ◽  
Communication Topology ◽  
Leader Following ◽  
Theoretical Results

In this paper, the consensus tracking problem of leader-following nonlinear control time-delay multiagent systems with directed communication topology is addressed. An improved high-order iterative learning control scheme with time-delay is proposed, where the local information between agents is considered. The uniformly global Lipschitz condition is applied to deal with the nonlinear dynamics. Then, a sufficient condition is driven, which guarantees that all the following agents track the trajectory of leader. Also, the convergence of proposed control protocol is analyzed by the norm theory. Finally, two cases are provided to illustrate the validity of theoretical results.

scholarly journals Consensus Analysis for a Class of Heterogeneous Multiagent Systems with Time Delay Based on Frequency Domain Method

2014 ◽  
Vol 2014 ◽  
pp. 1-7 ◽  
Author(s):  
Yi-Jie Sun ◽  
Guo-liang Zhang ◽  
Jing Zeng
Keyword(s):  
Time Delay ◽  
Frequency Domain ◽  
Multiagent Systems ◽  
Sufficient Conditions ◽  
Frequency Domain Method ◽  
Consensus Protocol ◽  
Consensus Analysis ◽  
Domain Method ◽  
Communication Topology ◽  
System Coupling

The consensus problem of heterogeneous multiagent systems composed of first-order and second-order agent is investigated. A linear consensus protocol is proposed. Based on frequency domain method, the sufficient conditions of achieving consensus are obtained. If communication topology contains spanning tree and some conditions can be satisfied on control gains, consensus can be achieved. Then, a linear consensus protocol with time delay is proposed. In this case, consensus is dependent only on system coupling strength, each agent input time delay, but independent of communication delay. Finally, numerical simulations are provided to illustrate the effectiveness of the theoretical result.

scholarly journals Robust Consensus for Nonlinear Multiagent Systems with Uncertainty and Disturbance

2018 ◽  
Vol 2018 ◽  
pp. 1-8 ◽  
Author(s):  
Zhiqiang Li ◽  
Chengjie Xu ◽  
Chen Liu ◽  
Haichuan Xu
Keyword(s):  
Numerical Simulation ◽  
Multiagent Systems ◽  
Lyapunov Stability ◽  
Matrix Theory ◽  
Lyapunov Stability Theory ◽  
Consensus Protocol ◽  
Evolution Behavior ◽  
Robust Consensus ◽  
Theoretical Results ◽  
Relative States

This paper investigates robust consensus for nonlinear multiagent systems with uncertainty and disturbance. The consensus evolution behavior is studied under general consensus protocol when each node is disturbed by the relative states between the node and its neighbors. At first, the robust consensus condition is obtained and the convergency analysis is given by using Lyapunov stability theory and matrix theory. Then, the practical consensus is investigated and the bound of the error states is presented. Finally, two numerical simulation examples are given to illustrate the proposed theoretical results.

scholarly journals Consensusabilization for Continuous-Time High-Order Multiagent Systems with Time-Varying Delays

2013 ◽  
Vol 2013 ◽  
pp. 1-12 ◽  
Author(s):  
Huayong Zhu ◽  
Yirui Cong ◽  
Xiangke Wang ◽  
Daibing Zhang ◽  
Qingjie Zhang
Keyword(s):  
Multiagent Systems ◽  
High Order ◽  
Protocol Design ◽  
Convergence Criterion ◽  
Time Varying ◽  
Convergence Criteria ◽  
Consensus Protocol ◽  
Consensus Criterion ◽  
Directed Topologies ◽  
Theoretical Results

For the consensus problems of high-order linear multiagent systems with time-varying delays in directed topologies, the LMI based-consensus criterion and NLMI-based consensusabilization (protocol parameters design that makes the multiagent systems achieve consensus) are investigated. Improved Lyapunov-Krasovskii functional is used for establishing the consensus convergence criteria and deriving the corresponding consensus protocol. In order to reduce the conservativeness, some proper free-weighting matrices are added into the derivative of Lyapunov-Krasovskii functional and that only keeps one necessary zoom. The numerical and simulation examples are given to demonstrate the effectiveness of the theoretical results. Compared with existing literatures, the convergence criterion and protocol design proposed have lower conservativeness.

scholarly journals Fast Consensus of Networked Multiagent Systems with Two-Hop Network

2015 ◽  
Vol 2015 ◽  
pp. 1-7
Author(s):  
Jinfeng Gao ◽  
Bin Bu ◽  
Lihui Feng ◽  
Minming Gu
Keyword(s):  
Distributed Control ◽  
Multiagent Systems ◽  
Large Scale ◽  
The State ◽  
Convergence Speed ◽  
Consensus Protocol ◽  
Large Scale Systems ◽  
Numerical Example ◽  
Communication Topology ◽  
Networked Multiagent Systems

This paper studies the consensus convergence speed of multiagent systems (MASs) from two aspects including communication topology and the state of agents. Two-hop network is considered in the communication topology. A novel consensus protocol that includes the information of the states motions and their integrals is introduced. And the protocol has much faster convergence speed by choosing some appropriate weight values. The protocol can be applied to distributed control and large-scale systems. A numerical example is presented to illustrate the effectiveness and superiority of the proposed method.

scholarly journals Formation Control of Second-Order Multiagent Systems with Time-Varying Delays

2014 ◽  
Vol 2014 ◽  
pp. 1-8 ◽  
Author(s):  
Hong Xia ◽  
Ting-Zhu Huang ◽  
Jin-Liang Shao ◽  
Jun-Yan Yu
Keyword(s):  
Control Problem ◽  
Multiagent Systems ◽  
Formation Control ◽  
Second Order ◽  
Sufficient Condition ◽  
Time Varying ◽  
Consensus Protocol ◽  
Leader Following ◽  
Multiple Leaders ◽  
Theoretical Results

A formation control problem for second-order multiagent systems with time-varying delays is considered. First, a leader-following consensus protocol is proposed for theoretical preparation. With the help of Lyapunov-Krasovskii functional, a sufficient condition under this protocol is derived for stability of the multiagent systems. Then, the protocol is extended to the formation control based on a multiple leaders’ architecture. It is shown that the agents will attain the expected formation. Finally, some simulations are provided to demonstrate the effectiveness of our theoretical results.

scholarly journals Observer-Type Consensus Protocol for a Class of Fractional-Order Uncertain Multiagent Systems

2012 ◽  
Vol 2012 ◽  
pp. 1-18 ◽  
Author(s):  
Hongjie Li
Keyword(s):  
Multiagent Systems ◽  
Fractional Order ◽  
Sufficient Conditions ◽  
Order System ◽  
Linear Matrix ◽  
Consensus Protocol ◽  
Stabilizing Controllers ◽  
Linear Matrix Inequality Approach ◽  
Value Decomposition ◽  
Theoretical Results

This paper investigates the consensus problem for a class of fractional-order uncertain multiagent systems with general linear node dynamics. Firstly, an observer-type consensus protocol is proposed based on the relative observer states of neighboring agents. Secondly, based on property of the Kronecker product and stability theory of fractional-order system, some sufficient conditions are presented for robust asymptotical stability of the observer-based fractional-order control systems. Thirdly, robust stabilizing controllers are derived by using linear matrix inequality approach and matrix’s singular value decomposition. Our results are in the form of linear matrix inequalities which can easily be solved by LMI toolbox in MATLAB. Finally, a numerical simulation is performed to show the effectiveness of the theoretical results.

scholarly journals Eigenvalue Based Approach for Global Consensus in Multiagent Systems with Nonlinear Dynamics

2014 ◽  
Vol 2014 ◽  
pp. 1-6
Author(s):  
Wei Qian ◽  
Lei Wang
Keyword(s):  
Nonlinear Dynamics ◽  
Multiagent Systems ◽  
Multiagent System ◽  
Symmetric Matrix ◽  
Algebraic Connectivity ◽  
Communication Graph ◽  
Consensus Protocol ◽  
Global Consensus ◽  
The Common ◽  
Analytical Result

This paper addresses the global consensus of nonlinear multiagent systems with asymmetrically coupled identical agents. By employing a Lyapunov function and graph theory, a sufficient condition is presented for the global exponential consensus of the multiagent system. The analytical result shows that, for a weakly connected communication graph, the algebraic connectivity of a redefined symmetric matrix associated with the directed graph is used to evaluate the global consensus of the multiagent system with nonlinear dynamics under the common linear consensus protocol. The presented condition is quite simple and easily verified, which can be effectively used to design consensus protocols of various weighted and directed communications. A numerical simulation is also given to show the effectiveness of the analytical result.

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