Distributed consensus protocol for leader-following multi-agent systems with functional observers

2015 ◽  
Vol 352 (11) ◽  
pp. 5173-5190 ◽  
Author(s):  
Lixin Gao ◽  
Yulong Cui ◽  
Xiaole Xu ◽  
Yuge Zhao
Keyword(s):  
Multi Agent Systems ◽  
Distributed Consensus ◽  
Consensus Protocol ◽  
Agent Systems ◽  
Leader Following ◽  
Multi Agent

Leader-following consensus of heterogeneous linear multi-agent systems: New results based on linear transformation method

2021 ◽  
pp. 014233122110582
Author(s):  
Yangzhou Chen ◽  
Guangyue Xu ◽  
Jingyuan Zhan
Keyword(s):  
Linear Transformation ◽  
Design Method ◽  
Transformation Method ◽  
Consensus Problem ◽  
Multi Agent Systems ◽  
Consensus Protocol ◽  
Agent Systems ◽  
Hurwitz Stability ◽  
Leader Following ◽  
Multi Agent

This paper studies the leader-following state consensus problem for heterogeneous linear multi-agent systems under fixed directed communication topologies. First, we propose a consensus protocol consisting of four parts for high-order multi-agent systems, in which different agents are allowed to have different gain matrices so as to increase the degree of design freedom. Then, we adopt a state linear transformation, which is constructed based on the incidence matrix of a directed spanning tree of the communication topology, to equivalently transform the state consensus problem into a partial variable stability problem. Meanwhile, the results of the partial variable stability theory are used to derive a sufficient and necessary consensus criterion, expressed as the Hurwitz stability of a real matrix. Then, this criterion is further expressed as a bilinear matrix inequality condition, and, based on this condition, an iterative algorithm is proposed to find the gain matrices of the protocol. Finally, numerical examples are provided to verify the effectiveness of the proposed protocol design method.

scholarly journals A Distributed Consensus Protocol Based on Neighbor Selection Strategies for Multi-Agent Systems Convergence

IEEE Access ◽  
2019 ◽  
Vol 7 ◽  
pp. 132937-132949
Author(s):  
Guangqiang Xie ◽  
Tianxiang Lan ◽  
Xianbiao Hu ◽  
Yang Li ◽  
Chang-Dong Wang ◽  
...  
Keyword(s):  
Multi Agent Systems ◽  
Distributed Consensus ◽  
Consensus Protocol ◽  
Agent Systems ◽  
Selection Strategies ◽  
Multi Agent ◽  
Neighbor Selection

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.

scholarly journals Fully Distributed Consensus of Fractional Chaotic Multi-agent Systems Based on Combined Event-triggered Mechanism

2021 ◽  
Author(s):  
Qiaoping Li ◽  
Chao Yue
Keyword(s):  
Sufficient Conditions ◽  
Absolute Error ◽  
Control Technique ◽  
Multi Agent Systems ◽  
Consensus Protocol ◽  
Agent Systems ◽  
Leader Following ◽  
Multi Agent ◽  
Event Times ◽  
Event Triggered

By designing a novel combined event-triggered control technique, this article analytically studies the distributed leader-following consensus problem of nonlinear fractional chaotic multi-agent systems. First, a novel combined event-triggered mechanism which takes into account both the relative error and the absolute error of the samples is proposed, under which each follower agent executes control update independently at its own event times. Next, a fully distributed event-triggered consensus protocol is designed and the sufficient conditions of consensus are attained. Finally, compared with other event-triggered mechanisms, the simulation experiments illustrate that the event-based consensus protocol proposed in this article can effectively reduce the frequency of actuator data update while ensuring desired consensus performance.

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