Consensus for discrete-time heterogeneous networked systems consisting of third-order and first-order agents under fixed and switching topologies

2017 ◽  
Vol 40 (9) ◽  
pp. 2748-2755 ◽  
Author(s):  
Huanyu Zhao ◽  
Shumin Fei
Keyword(s):  
System Theory ◽  
Graph Theory ◽  
Sufficient Condition ◽  
Consensus Problem ◽  
Multi Agent Systems ◽  
Algebraic Graph Theory ◽  
Third Order ◽  
Agent Systems ◽  
First Order ◽  
Multi Agent

This paper investigates the consensus problem for heterogeneous multi-agent systems consisting of third-order and first-order agents. The interaction topology includes both fixed and switching cases. First, by a model transformation, heterogeneous multi-agent systems are converted into equivalent error systems. Then we analyze the consensus problem of the multi-agent systems by analyzing the stability problem of the error systems. For a fixed topology, a sufficient condition for consensus of heterogeneous multi-agent systems is obtained based on algebraic graph theory and linear system theory. For a switching topology, a necessary and sufficient condition for mean-square consensus of multi-agent systems is obtained based on algebraic graph theory and Markovian jump system theory. Finally, we give some simulation examples.

Consensus Analysis for a Class of Heterogeneous Multi-Agent Systems in Directed Graph

2014 ◽  
Vol 599-601 ◽  
pp. 1930-1933
Author(s):  
Yi Jie Sun ◽  
Guo Liang Zhang ◽  
Jing Zeng
Keyword(s):  
Directed Graph ◽  
Matrix Theory ◽  
Sufficient Condition ◽  
Consensus Problem ◽  
Multi Agent Systems ◽  
Consensus Protocol ◽  
Consensus Analysis ◽  
Agent Systems ◽  
First Order ◽  
Multi Agent

This paper investigates the consensus problem for heterogeneous multi-agent systems in directed graph. The system includes first-order and second-order agents. A linear consensus protocol is proposed for solving such a consensus problem. A sufficient condition for the consensus problem is established by applying graph theory and matrix theory. Finally, a numerical simulation is provided to illustrate the effectiveness of the theoretical result.

Fast Finite-Time Consensus Tracking of First-Order Multi-Agent Systems with a Virtual Leader

2014 ◽  
Vol 596 ◽  
pp. 552-559 ◽  
Author(s):  
Qiu Yun Xiao ◽  
Zhi Hai Wu ◽  
Li Peng
Keyword(s):  
Graph Theory ◽  
Finite Time ◽  
Function Method ◽  
Multi Agent Systems ◽  
Agent Systems ◽  
First Order ◽  
Consensus Tracking ◽  
Lyapunov Function Method ◽  
Multi Agent ◽  
Virtual Leader

This paper proposes a novel finite-time consensus tracking protocol for guaranteeing first-order multi-agent systems with a virtual leader to achieve the fast finite-time consensus tracking. The Lyapunov function method, algebra graph theory, homogeneity with dilation and some other techniques are employed to prove that first-order multi-agent systems with a virtual leader applying the proposed protocol can reach the finite-time consensus tracking. Furthermore, theoretical analysis and numerical simulations show that compared with the traditional finite-time consensus tracking protocols, the proposed protocol can accelerate the convergence speed of achieving the finite-time consensus tracking.

Consensus for Heterogeneous Multi-Agent Systems with Directed Network Topologies

2017 ◽  
Vol 5 (4) ◽  
pp. 376-384 ◽  
Author(s):  
Meiling Zhu ◽  
Yong Xu ◽  
Rui Zhao
Keyword(s):  
Transformation Method ◽  
Directed Network ◽  
Sufficient Condition ◽  
Consensus Problem ◽  
Multi Agent Systems ◽  
System Transformation ◽  
Agent Systems ◽  
Network Topologies ◽  
Multi Agent ◽  
Necessary And Sufficient

AbstractIn this paper, the consensus problem for heterogeneous multi-agent systems composed of first-order and second-order agents is investigated with directed network topologies. Based on a system transformation method, this consensus problem is turned into a consensus problem for homogeneous multi-agent systems. With certain assumption on the control parameters, firstly, necessary and sufficient condition for consensus is proposed with fixed topology. Secondly, sufficient condition is proposed for heterogeneous multi-agent systems to achieve consensus with switching topologies. Finally, simulation examples are presented to verify the effectiveness of the theoretical results.

Robust Consensus of Multi-Agent Systems with Nonuniform Time-Delays and Switching Topologies

2013 ◽  
Vol 336-338 ◽  
pp. 804-810
Author(s):  
Wen Guang Zhang ◽  
Ji Zhen Liu ◽  
De Liang Zeng ◽  
Yan Song Deng
Keyword(s):  
Time Delays ◽  
Sufficient Condition ◽  
Consensus Problem ◽  
Multi Agent Systems ◽  
External Disturbances ◽  
Agent Systems ◽  
Switching Topologies ◽  
Multi Agent ◽  
Robust Consensus ◽  
Theoretical Results

This paper studies the robust consensus problem for multi-agent systems with nonuniform time-delays and switching topologies in the presence of external disturbances, where each agent has a self-delay and each delay is independent of each other. A neighbor-based rule is used for the agents with nonuniform time-delays and external disturbances. A sufficient condition is derived under which all agents achieve consensus while satisfying desired H_infinity performance. Finally, the effectiveness of the obtained theoretical results is demonstrated through numerical simulations.

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