Leader-Following Consensus Over Acyclic Switching Digraphs

2021 ◽  
Author(s):  
Changran He ◽  
Jie Huang
Keyword(s):  
Continuous Time ◽  
Stability Result ◽  
General System ◽  
Consensus Problem ◽  
Multi Agent Systems ◽  
Positive Real ◽  
Agent Systems ◽  
Fast Convergence Rate ◽  
Leader Following ◽  
Multi Agent

Abstract The existing results on the leader-following consensus problem for linear continuous-time multi-agent systems over jointly connected switching digraphs rely on the assumption that the system matrices do not have eigenvalues with positive real parts. In this paper, to remove this assumption, we first establish a stability result for a class of linear switched systems. Based on this, we show that the leader-following consensus problem for linear multi-agent systems with general system modes over jointly connected switching digraphs is solvable if the digraphs are acyclic. Moreover, the leader-following consensus can be achieved at a preassigned but arbitrarily fast convergence rate. A numerical example is provided to illustrate our design.

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.

A leader-following consensus problem of multi-agent systems in heterogeneous networks

Automatica ◽  
2020 ◽  
Vol 115 ◽  
pp. 108899 ◽  
Author(s):  
Christopher D. Cruz-Ancona ◽  
Rafael Martínez-Guerra ◽  
Claudia A. Pérez-Pinacho
Keyword(s):  
Heterogeneous Networks ◽  
Consensus Problem ◽  
Multi Agent Systems ◽  
Agent Systems ◽  
Leader Following ◽  
Multi Agent

A generalized hierarchical nearly cyclic pursuit for the leader-following consensus problem in multi-agent systems

2017 ◽  
Vol 40 (5) ◽  
pp. 1529-1537 ◽  
Author(s):  
Muhammad Iqbal ◽  
John Leth ◽  
Trung D Ngo
Keyword(s):  
Convergence Rate ◽  
Consensus Problem ◽  
Multi Agent Systems ◽  
Agent Systems ◽  
Cyclic Pursuit ◽  
Leader Following ◽  
Multi Agent ◽  
Simulation Results ◽  
Pursuit Strategy

In this paper, we solve the leader-following consensus problem using a hierarchical nearly cyclic pursuit (HNCP) strategy for multi-agent systems. We extend the nearly cyclic pursuit strategy and the two-layer HNCP to the generalized L-layer HNCP that enables the agents to rendezvous at a point dictated by a beacon. We prove that the convergence rate of the generalized L-layer HNCP for the leader-following consensus problem is faster than that of the nearly cyclic pursuit. Simulation results demonstrate the effectiveness of the proposed method.

scholarly journals On Leader-Following Consensus in Multi-Agent Systems with Discrete Updates at Random Times

Entropy ◽  
2020 ◽  
Vol 22 (6) ◽  
pp. 650
Author(s):  
Ricardo Almeida ◽  
Ewa Girejko ◽  
Snezhana Hristova ◽  
Agnieszka Malinowska
Keyword(s):  
Continuous Time ◽  
Sufficient Conditions ◽  
Control Law ◽  
Multi Agent Systems ◽  
Agent Systems ◽  
Leader Following ◽  
Multi Agent ◽  
Agent Networks ◽  
Random Times ◽  
Theoretical Results

This paper studies the leader-following consensus problem in continuous-time multi-agent networks with communications/updates occurring only at random times. The time between two consecutive controller updates is exponentially distributed. Some sufficient conditions are derived to design the control law that ensures the leader-following consensus is asymptotically reached (in the sense of the expected value of a stochastic process). The numerical examples are worked out to demonstrate the effectiveness of our theoretical results.

scholarly journals Distributed Control for Leader-Following Consensus Problem of Second-Order Multi-Agent Systems and Its Application to Motion Synchronization

2019 ◽  
Vol 9 (20) ◽  
pp. 4208 ◽  
Author(s):  
Huaitao Shi ◽  
Maxiao Hou ◽  
Yuhou Wu
Keyword(s):  
Second Order ◽  
Consensus Problem ◽  
Multi Agent Systems ◽  
Agent Systems ◽  
Adaptive Dynamic ◽  
Synchronization Problem ◽  
Leader Following ◽  
Multi Agent ◽  
Dynamic Quantizer ◽  
Motion Synchronization

This paper solves the leader-following consensus problem for a class of second-order multi-agent systems with input quantized by a newly proposed adaptive dynamic quantizer. The novel dynamic quantizer is an adaptive quantizer that combines the logarithmic quantizer and the uniform quantizer by introducing dynamic gain parameters to achieve quantizer adaptive adjustment. It has advantages of logarithmic, uniform, and adaptive dynamic quantizers in ensuring reducible communication expenses and acceptable quantizer errors for better system performance. On this basis, we transform the guide way climbing frame (GWCF) under ideal conditions into a second-order multi-agent system and solve the motion synchronization problem of GWCF. Finally, we illustrate our approach by numerical examples.

Generalized multi-synchronization: A leader-following consensus problem of multi-agent systems

2017 ◽  
Vol 233 ◽  
pp. 52-60 ◽  
Author(s):  
Christopher D. Cruz-Ancona ◽  
Rafael Martínez-Guerra ◽  
Claudia A. Pérez-Pinacho
Keyword(s):  
Consensus Problem ◽  
Multi Agent Systems ◽  
Agent Systems ◽  
Leader Following ◽  
Multi Agent
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