Autonomous trust construction in multi-agent systems—a graph theory methodology

2005 ◽  
Vol 36 (2) ◽  
pp. 59-66 ◽  
Author(s):  
Y.C. Jiang ◽  
Z.Y. Xia ◽  
Y.P. Zhong ◽  
S.Y. Zhang
Keyword(s):  
Graph Theory ◽  
Multi Agent Systems ◽  
Agent Systems ◽  
Multi Agent

Fast Finite-Time Consensus Tracking of First-Order Multi-Agent Systems with a Virtual Leader

2014 ◽  
Vol 596 ◽  
pp. 552-559 ◽  
Author(s):  
Qiu Yun Xiao ◽  
Zhi Hai Wu ◽  
Li Peng
Keyword(s):  
Graph Theory ◽  
Finite Time ◽  
Function Method ◽  
Multi Agent Systems ◽  
Agent Systems ◽  
First Order ◽  
Consensus Tracking ◽  
Lyapunov Function Method ◽  
Multi Agent ◽  
Virtual Leader

This paper proposes a novel finite-time consensus tracking protocol for guaranteeing first-order multi-agent systems with a virtual leader to achieve the fast finite-time consensus tracking. The Lyapunov function method, algebra graph theory, homogeneity with dilation and some other techniques are employed to prove that first-order multi-agent systems with a virtual leader applying the proposed protocol can reach the finite-time consensus tracking. Furthermore, theoretical analysis and numerical simulations show that compared with the traditional finite-time consensus tracking protocols, the proposed protocol can accelerate the convergence speed of achieving the finite-time consensus tracking.

Consensus for discrete-time heterogeneous networked systems consisting of third-order and first-order agents under fixed and switching topologies

2017 ◽  
Vol 40 (9) ◽  
pp. 2748-2755 ◽  
Author(s):  
Huanyu Zhao ◽  
Shumin Fei
Keyword(s):  
System Theory ◽  
Graph Theory ◽  
Sufficient Condition ◽  
Consensus Problem ◽  
Multi Agent Systems ◽  
Algebraic Graph Theory ◽  
Third Order ◽  
Agent Systems ◽  
First Order ◽  
Multi Agent

This paper investigates the consensus problem for heterogeneous multi-agent systems consisting of third-order and first-order agents. The interaction topology includes both fixed and switching cases. First, by a model transformation, heterogeneous multi-agent systems are converted into equivalent error systems. Then we analyze the consensus problem of the multi-agent systems by analyzing the stability problem of the error systems. For a fixed topology, a sufficient condition for consensus of heterogeneous multi-agent systems is obtained based on algebraic graph theory and linear system theory. For a switching topology, a necessary and sufficient condition for mean-square consensus of multi-agent systems is obtained based on algebraic graph theory and Markovian jump system theory. Finally, we give some simulation examples.

Fast Finite-Time Consensus Tracking of Heterogeneous Multi-Agent Systems with a Virtual Leader

2014 ◽  
Vol 687-691 ◽  
pp. 580-586 ◽  
Author(s):  
Qiu Yun Xiao ◽  
Zhi Hai Wu ◽  
Li Peng
Keyword(s):  
Graph Theory ◽  
Lyapunov Function ◽  
Finite Time ◽  
Function Method ◽  
Multi Agent Systems ◽  
Agent Systems ◽  
Consensus Tracking ◽  
Lyapunov Function Method ◽  
Multi Agent ◽  
Virtual Leader

This paper proposes a novel finite-time consensus tracking protocol for guaranteeing heterogeneous multi-agent systems with a virtual leader to achieve the fast finite-time consensus tracking. The Lyapunov function method, algebra graph theory, homogeneity with dilation and some other techniques are employed to prove that heterogeneous multi-agent systems with a virtual leader applying the proposed protocol can reach the finite-time consensus tracking. Numerical simulations indicate that compared with traditional finite-time consensus tracking protocols, the proposed protocol can accelerate the convergence speed of the finite-time consensus tracking.

Dynamic Formation Control of Multi-Agent Systems Using Rigid Graphs

2014 ◽  
Author(s):  
Xiaoyu Cai ◽  
Marcio de Queiroz
Keyword(s):  
Graph Theory ◽  
Formation Control ◽  
Control Law ◽  
Multi Agent Systems ◽  
Agent Systems ◽  
Multi Agent ◽  
Simulation Results ◽  
Error Dynamics ◽  
Integrator Model ◽  
Dynamic Formation

In this paper, we consider the problem of formation control of multi-agent systems where the desired formation is dynamic. This is motivated by applications, such as obstacle avoidance, where the formation size and/or geometric shape needs to vary in time. Using a single-integrator model and rigid graph theory, we propose a new control law that exponentially stabilizes the origin of the nonlinear, inter-agent distance error dynamics and ensures tracking of the desired formation. The extension to the formation maneuvering problem is also discussed. Simulation results for a five-agent formation demonstrate the control in action.

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