scholarly journals Consensus of Multiagent Systems with Packet Losses and Communication Delays Using a Novel Control Protocol

2014 ◽  
Vol 2014 ◽  
pp. 1-13 ◽  
Author(s):  
Zheping Yan ◽  
Di Wu ◽  
Wei Zhang ◽  
Yibo Liu
Keyword(s):  
Spanning Tree ◽  
Multiagent System ◽  
Matrix Theory ◽  
High Order ◽  
Communication Delays ◽  
Packet Losses ◽  
Control Protocol ◽  
Directed Spanning Tree ◽  
Communication Topology ◽  
Double Integrator

This paper studies the consensus problem of multiagent system with packet losses and communication delays under directed communication channels. Different from previous research results, a novel control protocol is proposed depending only on periodic sampling and transmitting data in order to be convenient for practical implementation. Due to the randomicity of transmission delays and packet losses, each agent updates its input value asynchronously at discrete time instants with synchronized time stamped information and evolves in continuous time. Consensus conditions for multiagent system consists of three typical dynamics including single integrator, double integrator, and high-order integrator that are all discussed in this paper. It is proved that, for single integrator agents and double integrator systems with only communication delays, consensusability can be ensured through stochastic matrix theory if the designed communication topology contains a directed spanning tree. While, for double integrator agents and high-order integrator agents with packet losses and communication delays, the interval system theory is introduced to prove the consensus of multiagent system under the condition that the designed communication topology is a directed spanning tree. Finally, simulations are carried out to validate the effectiveness of the proposed solutions.

scholarly journals Consensus of Heterogeneous Multiagent Systems with Switching Dynamics

2018 ◽  
Vol 2018 ◽  
pp. 1-9
Author(s):  
Wenshuai Wang ◽  
Juling Wang ◽  
Huaizhu Wang ◽  
Yuanshi Zheng
Keyword(s):  
Multiagent Systems ◽  
Spanning Tree ◽  
Matrix Theory ◽  
Nonnegative Matrix ◽  
Time Dynamics ◽  
Switching Dynamics ◽  
Directed Spanning Tree ◽  
Interaction Topology ◽  
Theoretical Results ◽  
Double Integrator

Heterogeneity is an important feature of multiagent systems. This paper addresses the consensus problem of heterogeneous multiagent systems composed of first-integrator and double-integrator agents. The dynamics of each agent switches between continuous-time and discrete-time dynamics. By using the graph theory and nonnegative matrix theory, we derive that the system can achieve consensus if and only if the fixed interaction topology has a directed spanning tree. For switching topologies, we get that the system can reach consensus if each interaction topology has a directed spanning tree. Simulation examples are provided to demonstrate the effectiveness of our theoretical results.

scholarly journals Control Strategies for Multi-UAV Simultaneous Arrival under Communication Topology Changing

2018 ◽  
Vol 36 (3) ◽  
pp. 565-570
Author(s):  
Yanying Tan ◽  
Liang Xue ◽  
Yanning Zhang ◽  
Xiaoping Zhu
Keyword(s):  
Survival Rate ◽  
Spanning Tree ◽  
Control Strategies ◽  
Consensus Algorithm ◽  
Time Of Arrival ◽  
Node Failure ◽  
Directed Spanning Tree ◽  
Communication Topology ◽  
Simulation Results ◽  
Multi Uav

Aimed at changing in communication topology due to partial link/node failure in the battlefield, and for satisfying the weakest connectivity criteria of consensus algorithm, the strategy of judging in real time whether the communication topology among UAVs has a directed spanning tree or sub-tree and the strategy of acquiring the expected minimum partial link change suggestion for the topology containing a directed spanning tree again are designed. Based on the above strategies and selecting ETA (Estimated Time of Arrival) as coordinated variable, the consensus algorithm ensures that after some time all the members or part members of the UAVs arrive simultaneously. The strategy is put forword which the UAVS are controlled arriving simultaneously on the planed virtual sub-goal waypoints one by one along the flight path. Through the strategy, the UAVs fly together soon and arrive simultaneously at last. It is helpful to improve the survival rate of UAVs and preserve the communication connectivity of UAVs which is usually distance-dependent. The simulation results show that the above strategies are effective.

scholarly journals Consensus Analysis of Fractional-Order Multiagent Systems with Double-Integrator

2017 ◽  
Vol 2017 ◽  
pp. 1-8 ◽  
Author(s):  
Chunde Yang ◽  
Wenjing Li ◽  
Wei Zhu
Keyword(s):  
Multiagent Systems ◽  
Fractional Order ◽  
Spanning Tree ◽  
Sufficient Condition ◽  
Necessary And Sufficient Condition ◽  
Consensus Analysis ◽  
Directed Spanning Tree ◽  
Necessary And Sufficient ◽  
Theoretical Results ◽  
Double Integrator

In nature, many phenomena can be explained by coordinated behavior of agents with fractional-order dynamics. In this paper, the consensus problem of fractional-order multiagent systems with double-integrator is studied, where the fractional-order satisfies0<α<2. Based on the fractional-order stability theory, Mittag-Leffler function, and Laplace transform, a necessary and sufficient condition is obtained under the assumption that the directed graph for the communication network contains a directed spanning tree. Finally, an example with simulation is presented to illustrate the theoretical results.

scholarly journals On the General Consensus Protocol in Multiagent Networks with Double-Integrator Dynamics and Coupling Time Delay

2013 ◽  
Vol 2013 ◽  
pp. 1-6 ◽  
Author(s):  
Tao Dong ◽  
Xiaofeng Liao
Keyword(s):  
Time Delay ◽  
Matrix Theory ◽  
Sufficient Conditions ◽  
Consensus Algorithm ◽  
Directed Network ◽  
Consensus Protocol ◽  
Special Cases ◽  
Coupling Time ◽  
Almost All ◽  
Double Integrator

This paper considers the problem of the convergence of the consensus algorithm for multiple agents in a directed network where each agent is governed by double-integrator dynamics and coupling time delay. The advantage of this protocol is that almost all the existing linear local interaction consensus protocols can be considered as special cases of the present paper. By combining algebraic graph theory and matrix theory and studying the distribution of the eigenvalues of the associated characteristic equation, some necessary and sufficient conditions are derived for reaching the second-order consensus. Finally, an illustrative example is also given to support the theoretical results.

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