scholarly journals Autonomous Addition of Agents to an Existing Group Using Genetic Algorithm

Sensors ◽  
2020 ◽  
Vol 20 (23) ◽  
pp. 6953
Author(s):  
Sabyasachi Mondal ◽  
Antonios Tsourdos
Keyword(s):  
Genetic Algorithm ◽  
Optimal Topology ◽  
Autonomous Agent ◽  
Multi Agent Systems ◽  
Consensus Protocol ◽  
Consensus Control ◽  
New Agents ◽  
Communication Topology ◽  
Multi Agent ◽  
The Stability

This paper presents an idea of how new agents can be added autonomously to a group of existing agents without changing the existing communication topology among them. Autonomous agent addition to existing Multi-Agent Systems (MASs) can give a strategic advantage during the execution of a critical beyond visual line-of-sight (BVLOS) mission. The addition of the agent essentially means that new connections with existing agents are established. It is obvious that the consensus control energy increases as the number of agent increases considering a specific consensus protocol. The objective of this work is to establish the new connections in a way such that the consensus energy increase due to the new agents is minimal. The updated topology, including new connections, must contain a spanning tree to maintain the stability of the MASs network. The updated optimal topology is obtained by solving minimum additional consensus control energy using the Two-Dimensional Genetic Algorithm. The results obtained are convincing.

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.

Distributed adaptive consensus control for multi-agent systems with Lipschitz nonlinear dynamics

2016 ◽  
Vol 39 (12) ◽  
pp. 1864-1876 ◽  
Author(s):  
Xiaole Xu ◽  
Lixin Gao
Keyword(s):  
Multi Agent Systems ◽  
Consensus Protocol ◽  
Consensus Control ◽  
Adaptive Controllers ◽  
Agent Systems ◽  
Communication Topology ◽  
Leader Following ◽  
Multi Agent ◽  
Output Information ◽  
Active Leader

In this paper, the observer-based consensus problem for nonlinear multi-agent systems is considered. The dynamics of each agent is given in general form of Lipschitz nonlinear system, and the communication topology among the agents is assumed to be undirected and connected. The leader-following case and leaderless case are discussed. In the former, it is assumed that the leader’s input is possibly nonzero and time-varying and only a subset of the following agents can access the state information of the leader. To track the active leader, a distributed adaptive consensus protocol, based on the relative-output information with its neighbouring agents, is proposed for each following agent. It is shown that under suitable conditions, all the following agents can track the leader under the designed adaptive controllers and observers. Following that, the leaderless case is probed. Finally, a numerical example is given to illustrate our obtained result.

Reduced-order observer-based consensus control of linear multi-agent systems over directed networks with nonuniform communication delays

2020 ◽  
pp. 014233122093430
Author(s):  
Qiuzhen Wang ◽  
Jiangping Hu ◽  
Yiyi Zhao ◽  
Bijoy Kumar Ghosh
Keyword(s):  
Time Varying ◽  
Communication Delays ◽  
Multi Agent Systems ◽  
Consensus Control ◽  
Reduced Order ◽  
Reduced Order Observer ◽  
Multi Agent ◽  
The Stability ◽  
Output Information ◽  
Theoretical Results

This paper considers a consensus control of a general linear multi-agent system with time-varying communication delays. Since each agent can only use the relative output information from its neighbors, a reduced-order observer-based control protocol is proposed to guarantee consensus on the directed communication network. The stability of the closed-loop system is analyzed for the cases with uniform delays and nonuniform time-varying delays, respectively. Moreover, the upper bounds of the communication delays are obtained respectively for the two cases. Finally, two numerical examples are provided to illustrate the proposed theoretical results.

scholarly journals Genetic Optimization-Based Consensus Control of Multi-Agent 6-DoF UAV System

Sensors ◽  
2020 ◽  
Vol 20 (12) ◽  
pp. 3576 ◽  
Author(s):  
Aws Najm ◽  
Ibraheem Ibraheem ◽  
Ahmad Azar ◽  
Amjad Humaidi
Keyword(s):  
Genetic Algorithm ◽  
Optimization Technique ◽  
Switching Topology ◽  
Control Law ◽  
Genetic Optimization ◽  
Multi Agent System ◽  
Control Parameters ◽  
Consensus Control ◽  
Communication Topology ◽  
Multi Agent

A consensus control law is proposed for a multi-agent system of quadrotors with leader–follower communication topology for three quadrotor agents. The genetic algorithm (GA) is the proposed optimization technique to tune the consensus control parameters. The complete nonlinear model is used without any further simplifications in the simulations, while simplification in the model is used to theoretically design the controller. Different case studies and tests are done (i.e., trajectory tracking formation and switching topology) to show the effectiveness of the proposed controller. The results show good performance in all tests while achieving the consensus of the desired formations.

Consensus stability in multi-agent systems with periodically switched communication topology using Floquet theory

2020 ◽  
pp. 014233122096905
Author(s):  
Mohammad Maadani ◽  
Eric A Butcher
Keyword(s):  
Feedback Linearization ◽  
Floquet Theory ◽  
Kuramoto Model ◽  
Multi Agent Systems ◽  
Agent Systems ◽  
Unstable Subsystems ◽  
Special Cases ◽  
Communication Topology ◽  
Multi Agent ◽  
The Stability

The stability of consensus in linear and nonlinear multi-agent systems with periodically switched communication topology is studied using Floquet theory. The proposed strategy is illustrated for the cases of consensus in linear single-integrator, higher-order integrator, and leader-follower consensus. In addition, the application of Floquet theory in analyzing special cases such as switched systems with joint connectivity, unstable subsystems, and nonlinear systems, including the use of feedback linearization and local linearization in the Kuramoto model, is also studied. By utilizing Floquet theory for multi-agent systems with periodically switched communication topologies, one can simultaneously evaluate the effects of each subsystem’s convergence rate and dwell time on overall behavior. Numerical simulation results are presented to demonstrate the efficacy of the proposed approach in stability analysis of all these cases.

Robust Consensus Output Tracking of Multi-Agent Systems With Directed Communications

2010 ◽  
Author(s):  
Z. Wang ◽  
W. Zhang ◽  
Y. Guo
Keyword(s):  
Multi Agent Systems ◽  
Consensus Control ◽  
Agent Systems ◽  
Output Tracking ◽  
Output Tracking Control ◽  
Control Scheme ◽  
Communication Topology ◽  
Multi Agent ◽  
Derivatives Of ◽  
Robust Consensus

In this paper, we study the consensus output tracking control for multi-agent systems with high-order dynamics under directed communication topology. Time-varying reference is assumed to be available to a subgroup of a team. A leader-follower scheme is applied and robust consensus control is developed so that the reference is treated as disturbances to those agents with no access to the reference. The control scheme avoids estimation of the derivatives of neighbor’s states through measurement as done in previous work and guarantees a finite L2-gain from the reference to an transformed output. Simulation results show satisfactory performances.

scholarly journals Hybrid-order Network Consensus for Distributed Multi-agent Systems

2021 ◽  
Vol 70 ◽  
pp. 389-407
Author(s):  
Guangqiang Xie ◽  
Junyu Chen ◽  
Yang Li
Keyword(s):  
Higher Order ◽  
Distributed Artificial Intelligence ◽  
Order Structure ◽  
Multi Agent System ◽  
Multi Agent Systems ◽  
Consensus Protocol ◽  
Consensus Control ◽  
Agent System ◽  
Agent Systems ◽  
Multi Agent

As an important field of Distributed artificial intelligence (DAI), multi-agent systems (MASs) have attracted the attention of extensive research scholars. Consensus as the most important issue in MAS, much progress has been made in studying the consensus control of MAS, but there are some problems remained largely unaddressed which cause the MAS to lose some useful network structure information. First, multi-agent consensus protocol usually proceeds over the low-order structure by only considering the direct edges between agents, but ignores the higher-order structure of the whole topology network. Second, the existing work assumes all the edges in a topology network have the same weight without exploring the potential diversity of the connections. In this way, multi-agent systems fail to enforce consensus, resulting in fragmentation into multiple clusters. To address the above issues, this paper proposes a Motif-aware Weighted Multi-agent System (MWMS) method for consensus control. We focus more on triangle motif in the network, but it can be extended to other kinds of motifs as well. First, a novel weighted network is used which is the combination of the edge-based lower-order structure and the motif-based higher-order structure, i.e., hybrid-order structure. Subsequently, by simultaneously considering the quantity and the quality of the connections in the network, a novel consensus framework for MAS is designed to update agents. Then, two baseline consensus algorithms are used in MWMS. In our experiments, we use ten topologies of different shapes, densities and ranges to comprehensively analyze the performance of our proposed algorithms. The simulation results show that the hybrid higher-order network can effectively enhance the consensus of the multi-agent system in different network topologies.

Consensus seeking for multi-agent systems by hybrid output feedback protocol

2016 ◽  
Vol 39 (7) ◽  
pp. 1104-1113 ◽  
Author(s):  
Jianqiang Hu ◽  
Jinde Cao
Keyword(s):  
Output Feedback ◽  
Multi Agent Systems ◽  
Consensus Protocol ◽  
Agent Systems ◽  
Luenberger Observer ◽  
State Observers ◽  
Communication Topology ◽  
Necessary And Sufficient Criteria ◽  
Multi Agent ◽  
Necessary And Sufficient

Consensus seeking problems are investigated for linear multi-agent systems in this paper. Two kinds of state observers, the decentralized Luenberger observer and the distributed pinning networked observer, are proposed to estimate the group agents’ state. Then, based on the observed state information, a novel distributed hybrid output feedback protocol is proposed. Using an eigenvalue analysis method, necessary and sufficient criteria have been established such that asymptomatic consensus can be achieved for a linear multi-agent system under a fixed directed communication topology. Furthermore, two multi-step algorithms are provided to determine the observer gains and the feedback gains for the proposed observer and distributed hybrid protocol. Finally, a numerical example is given to demonstrate the applicability and efficiency of the proposed consensus protocol.

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