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.

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

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.

scholarly journals On Convergence Rate of Leader-Following Consensus of Linear Multi-Agent Systems With Communication Noises

2016 ◽  
Vol 61 (11) ◽  
pp. 3586-3592 ◽  
Author(s):  
Long Cheng ◽  
Yunpen Wang ◽  
Wei Ren ◽  
Zeng-Guang Hou ◽  
Min Tan
Keyword(s):  
Convergence Rate ◽  
Multi Agent Systems ◽  
Agent Systems ◽  
Leader Following ◽  
Multi Agent

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

Distributed consensus of multi-agent systems with increased convergence rate

2020 ◽  
Vol 0 (0) ◽  
Author(s):  
Ke-cai Cao ◽  
Yun Chai ◽  
Chenglin Liu
Keyword(s):  
Convergence Rate ◽  
Finite Time ◽  
Nearest Neighbor ◽  
Laplacian Matrix ◽  
Consensus Problem ◽  
Multi Agent System ◽  
Multi Agent Systems ◽  
Consensus Protocol ◽  
Agent Systems ◽  
Multi Agent

AbstractConsensus problem with faster convergence rate of consensus problem has been considered in this paper. Adding more edges such as that connecting each agent and its second-nearest neighbor or changing the consensus protocol such as mixing asymptotic terms and terms of finite-time has been proved to be possible ways in increasing the convergence rate of multi-agent system in this paper. Based on analysis of Laplacian matrix, increasing of the convergence rate has been proved using the second-smallest eigenvalue for the first method. Concerning the second method, advantages of asymptotic consensus protocol and finite-time consensus protocol have been mixed together with the help of homogeneity function and theory of Lyapunov. Simulation results using matlab are also presented to illustrate the newly designed consensus protocols in increasing the convergence rate.

Sign in / Sign up

Export Citation Format

Share Document