Constraint consensus of heterogeneous multi-agent systems

2018 ◽  
Vol 29 (05) ◽  
pp. 1840005 ◽  
Author(s):  
Quanyi Liang ◽  
Zhikun She
Keyword(s):  
Embedded System ◽  
Linear Equations ◽  
Invariant Set ◽  
Multi Agent Systems ◽  
Consensus Protocol ◽  
Agent Systems ◽  
Multi Agent ◽  
Virtual System ◽  
The Individual ◽  
Constraint Consensus

In this brief paper, we study the constraint consensus problem of heterogeneous multi-agent systems. First, we provide an invariant set, which can be exactly obtained by solving linear equations. Then, a virtual system is defined on this invariant set such that it is the largest common embedded system of all the individual agents. Afterwards, a linear consensus protocol is proposed with the corresponding constraint consensus criterion. In particular, the above virtual system can reveal all the asymptotic dynamical behaviors if heterogeneous multi-agent systems achieve consensus. Finally, an example with numerical simulations is given to illustrate the validity of our criterion.

scholarly journals Event-Triggered Bipartite Consensus of Single-Integrator Multi-Agent Systems with Measurement Noise

2018 ◽  
Vol 2018 ◽  
pp. 1-9
Author(s):  
Cui-Qin Ma ◽  
Yun-Bo Zhao ◽  
Wei-Guo Sun
Keyword(s):  
Sufficient Conditions ◽  
Measurement Noise ◽  
Mean Square ◽  
Multi Agent Systems ◽  
Negative Effects ◽  
Consensus Protocol ◽  
Agent Systems ◽  
Multi Agent ◽  
Bipartite Consensus ◽  
Event Triggered

Event-triggered bipartite consensus of single-integrator multi-agent systems is investigated in the presence of measurement noise. A time-varying gain function is proposed in the event-triggered bipartite consensus protocol to reduce the negative effects of the noise corrupted information processed by the agents. Using the state transition matrix, Ito^ formula, and the algebraic graph theory, necessary and sufficient conditions are given for the proposed protocol to yield mean square bipartite consensus. We find that the weakest communication requirement to ensure the mean square bipartite consensus under event-triggered protocol is that the signed digraph is structurally balanced and contains a spanning tree. Numerical examples validated the theoretical findings where the system shows no Zeno behavior.

Finite-time consensus protocol for stochastic multi-agent systems

2019 ◽  
Vol 13 (6) ◽  
pp. 755-762 ◽  
Author(s):  
Xiurong Chen ◽  
Juan Li ◽  
Ziku Wu ◽  
Jiashang Yu
Keyword(s):  
Finite Time ◽  
Multi Agent Systems ◽  
Consensus Protocol ◽  
Agent Systems ◽  
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.

Bayesian Agencies in Control

2011 ◽  
pp. 168-181
Author(s):  
Anet Potgieter ◽  
Judith Bishop
Keyword(s):  
Bayesian Networks ◽  
Autonomous Agents ◽  
Probabilistic Reasoning ◽  
Multi Agent Systems ◽  
Agent Architectures ◽  
Analysis And Design ◽  
Agent Systems ◽  
Interaction Protocols ◽  
Multi Agent ◽  
The Individual

Most agent architectures implement autonomous agents that use extensive interaction protocols and social laws to control interactions in order to ensure that the correct behaviors result during run-time. These agents, organized into multi-agent systems in which all agents adhere to predefined interaction protocols, are well suited to the analysis, design and implementation of complex systems in environments where it is possible to predict interactions during the analysis and design phases. In these multi-agent systems, intelligence resides in individual autonomous agents, rather than in the collective behavior of the individual agents. These agents are commonly referred to as “next-generation” or intelligent components, which are difficult to implement using current component-based architectures. In most distributed environments, such as the Internet, it is not possible to predict interactions during analysis and design. For a complex system to be able to adapt in such an uncertain and non-deterministic environment, we propose the use of agencies, consisting of simple agents, which use probabilistic reasoning to adapt to their environment. Our agents collectively implement distributed Bayesian networks, used by the agencies to control behaviors in response to environmental states. Each agency is responsible for one or more behaviors, and the agencies are structured into heterarchies according to the topology of the underlying Bayesian networks. We refer to our agents and agencies as “Bayesian agents” and “Bayesian agencies.”

scholarly journals Nonlinear Consensus Protocol Modified from Doubly Stochastic Quadratic Operators in Networks of Dynamic Agents

Symmetry ◽  
2019 ◽  
Vol 11 (12) ◽  
pp. 1519 ◽  
Author(s):  
Rawad Abdulghafor ◽  
Sultan Almotairi ◽  
Hamad Almohamedh ◽  
Sherzod Turaev ◽  
Badr Almutairi
Keyword(s):  
Theoretical Analysis ◽  
Consensus Problem ◽  
Multi Agent Systems ◽  
Consensus Protocol ◽  
Agent Systems ◽  
Doubly Stochastic ◽  
Average Consensus ◽  
Multi Agent ◽  
Mathematical Equations ◽  
Simulation Results

This article explores nonlinear convergence to limit the effects of the consensus problem that usually occurs in multi-agent systems. Most of the existing research essentially considers the outline of linear protocols, using complex mathematical equations in various orders. In this work, however, we designed and developed an alternative nonlinear protocol based on simple and effective mathematical approaches. The designed protocol in this sense was modified from the Doubly Stochastic Quadratic Operators (DSQO) and was aimed at resolving consensus problems. Therefore, we called it Modified Doubly Stochastic Quadratic Operators (MDSQO). The protocol was derived in the context of coordinated systems to overcome the consensus issue related to multi-agent systems. In the process, we proved that by using the proposed nonlinear protocol, the consensus could be reached via a common agreement among the agents (average consensus) in a fast and easy fashion without losing any initial status. Moreover, the investigated nonlinear protocol of MDSQO realized the reaching consensus always as well as DSQO in some cases, which could not reach consensus. Finally, simulation results were given to prove the validity of the theoretical analysis.

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