Distributed consensus protocol for leader-following multi-agent systems with a Luenberger observer

2015 ◽  
Author(s):  
Yuge Zhao ◽  
Lixin Gao
Keyword(s):  
Multi Agent Systems ◽  
Distributed Consensus ◽  
Consensus Protocol ◽  
Agent Systems ◽  
Luenberger Observer ◽  
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.

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.

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.

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