Designing a novel consensus protocol for multiagent systems with general dynamics under directed networks

2017 ◽  
Vol 18 (8) ◽  
pp. 1071-1081 ◽  
Author(s):  
Hao-liang Li ◽  
Ren-nong Yang ◽  
Qiu-ni Li
Keyword(s):  
Multiagent Systems ◽  
Directed Networks ◽  
Consensus Protocol ◽  
General Dynamics

scholarly journals Eigenvalue Based Approach for Global Consensus in Multiagent Systems with Nonlinear Dynamics

2014 ◽  
Vol 2014 ◽  
pp. 1-6
Author(s):  
Wei Qian ◽  
Lei Wang
Keyword(s):  
Nonlinear Dynamics ◽  
Multiagent Systems ◽  
Multiagent System ◽  
Symmetric Matrix ◽  
Algebraic Connectivity ◽  
Communication Graph ◽  
Consensus Protocol ◽  
Global Consensus ◽  
The Common ◽  
Analytical Result

This paper addresses the global consensus of nonlinear multiagent systems with asymmetrically coupled identical agents. By employing a Lyapunov function and graph theory, a sufficient condition is presented for the global exponential consensus of the multiagent system. The analytical result shows that, for a weakly connected communication graph, the algebraic connectivity of a redefined symmetric matrix associated with the directed graph is used to evaluate the global consensus of the multiagent system with nonlinear dynamics under the common linear consensus protocol. The presented condition is quite simple and easily verified, which can be effectively used to design consensus protocols of various weighted and directed communications. A numerical simulation is also given to show the effectiveness of the analytical result.

scholarly journals A Nonlinear Consensus Protocol of Multiagent Systems Considering Measuring Errors

2013 ◽  
Vol 2013 ◽  
pp. 1-8 ◽  
Author(s):  
Xiaochu Wang ◽  
Kaichun Zhao ◽  
Zheng You ◽  
Lungui Zheng
Keyword(s):  
Multiagent Systems ◽  
Energy Cost ◽  
Additional Condition ◽  
Consensus Protocol ◽  
Communication Topology ◽  
Measurement Uncertainties ◽  
Theoretical Analyses ◽  
Theoretical Results

In order to avoid a potential waste of energy during consensus controls in the case where there exist measurement uncertainties, a nonlinear protocol is proposed for multiagent systems under a fixed connected undirected communication topology and extended to both the cases with full and partial access a reference. Distributed estimators are utilized to help all agents agree on the understandings of the reference, even though there may be some agents which cannot access to the reference directly. An additional condition is also considered, where self-known configuration offsets are desired. Theoretical analyses of stability are given. Finally, simulations are performed, and results show that the proposed protocols can lead agents to achieve loose consensus and work effectively with less energy cost to keep the formation, which have illustrated the theoretical results.

scholarly journals Adaptive Guaranteed-Performance Consensus Control for Multi-Agent Systems with an Adjustable Convergence Speed

2019 ◽  
Vol 2019 ◽  
pp. 1-9 ◽  
Author(s):  
Haiying Ma ◽  
Xiao Jia ◽  
Ning Cai ◽  
Jianxiang Xi
Keyword(s):  
Multiagent Systems ◽  
Sufficient Conditions ◽  
Convergence Speed ◽  
Multi Agent Systems ◽  
Consensus Protocol ◽  
Consensus Control ◽  
Control Gain ◽  
Multi Agent ◽  
The Stability ◽  
Theoretical Results

In this paper, adaptive guaranteed-performance consensus control problems for multiagent systems with an adjustable convergence speed are investigated. A novel adaptive guaranteed-performance consensus protocol is proposed, where the communication weights can be adaptively regulated. By the state space decomposition method and the stability theory, sufficient conditions for guaranteed-performance consensus are obtained and the guaranteed-performance cost is determined. Moreover, the lower bound of the convergence coefficient for multiagent systems is deduced, which is linearly adjustable approximately by changing the adaptive control gain. Finally, simulation examples are introduced to demonstrate theoretical results.

scholarly journals Bipartite Consensus of Heterogeneous Multiagent Systems Based on Distributed Event-Triggered Control

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-14 ◽  
Author(s):  
Xiaoyu Wang ◽  
Kaien Liu ◽  
Zhijian Ji ◽  
Shitao Han
Keyword(s):  
Multiagent Systems ◽  
Sufficient Conditions ◽  
Input Delay ◽  
Consensus Problem ◽  
Consensus Protocol ◽  
Control Scheme ◽  
Event Triggering ◽  
Bipartite Consensus ◽  
Theoretical Results ◽  
Event Triggered

In this paper, the bipartite consensus problem of heterogeneous multiagent systems composed of first-order and second-order agents is considered by utilizing the event-triggered control scheme. Under structurally balanced directed topology, event-triggered bipartite consensus protocol is put forward, and event-triggering functions consisting of measurement error and threshold are designed. To exclude Zeno behavior, an exponential function is introduced in the threshold. The bipartite consensus problem is transformed into the corresponding stability problem by means of gauge transformation and model transformation. By virtue of Lyapunov method, sufficient conditions for systems without input delay are obtained to guarantee bipartite consensus. Furthermore, for the case with input delay, sufficient conditions which include an admissible upper bound of the delay are obtained to guarantee bipartite consensus. Finally, numerical simulations are provided to illustrate the effectiveness of the obtained theoretical results.

scholarly journals Distributed Node-to-Node Consensus of Multiagent Systems with Delayed Nonlinear Dynamics and Intermittent Communications

2015 ◽  
Vol 2015 ◽  
pp. 1-10
Author(s):  
Kexin Jia ◽  
Hongjie Li ◽  
Wenqiang Zheng ◽  
Qinyou Mou ◽  
Jiajun Shao
Keyword(s):  
Nonlinear Dynamics ◽  
Multiagent Systems ◽  
Matrix Theory ◽  
Lyapunov Stability Theory ◽  
Threshold Value ◽  
Consensus Protocol ◽  
Time Duration ◽  
Communication Time ◽  
Intermittent Measurements ◽  
Intermittent Communications

The paper is concerned with the problem of distributed node-to-node consensus of multiagent systems with delayed nonlinear dynamics and communication constraints. A new kind of consensus protocol based only on the intermittent measurements of neighboring agents is proposed to make each follower track the corresponding leader asymptotically. Based on the Lyapunov stability theory andM-matrix theory, some novel and simple criteria are derived for node-to-node consensus of multiagent systems. It is shown that consensus can be reached if the communication time duration is larger than the corresponding threshold value. Finally, a numerical example is provided to demonstrate the effectiveness of the obtained theoretical results.

scholarly journals Consensus Analysis for a Class of Heterogeneous Multiagent Systems with Time Delay Based on Frequency Domain Method

2014 ◽  
Vol 2014 ◽  
pp. 1-7 ◽  
Author(s):  
Yi-Jie Sun ◽  
Guo-liang Zhang ◽  
Jing Zeng
Keyword(s):  
Time Delay ◽  
Frequency Domain ◽  
Multiagent Systems ◽  
Sufficient Conditions ◽  
Frequency Domain Method ◽  
Consensus Protocol ◽  
Consensus Analysis ◽  
Domain Method ◽  
Communication Topology ◽  
System Coupling

The consensus problem of heterogeneous multiagent systems composed of first-order and second-order agent is investigated. A linear consensus protocol is proposed. Based on frequency domain method, the sufficient conditions of achieving consensus are obtained. If communication topology contains spanning tree and some conditions can be satisfied on control gains, consensus can be achieved. Then, a linear consensus protocol with time delay is proposed. In this case, consensus is dependent only on system coupling strength, each agent input time delay, but independent of communication delay. Finally, numerical simulations are provided to illustrate the effectiveness of the theoretical result.

scholarly journals Consensus for Multiagent Systems with Nonlinear Dynamics and Time Delays Using a Two-Hop Relay Adaptive Method

2014 ◽  
Vol 2014 ◽  
pp. 1-6 ◽  
Author(s):  
Qian Cao ◽  
Y. D. Song ◽  
Lei Wang ◽  
Feng Yang
Keyword(s):  
Nonlinear Dynamics ◽  
Multiagent Systems ◽  
Adaptive Algorithm ◽  
Time Delays ◽  
Closed Loop ◽  
Adaptive Method ◽  
Closed Loop System ◽  
Consensus Protocol ◽  
The Stability ◽  
Delay Margin

This paper investigates the consensus problem for multiagent systems with nonlinear dynamics and time delays. A distributed adaptive consensus protocol is proposed in which the time delays are explicitly included in the adaptive algorithm. It is shown that the resultant closed loop system involves doubly larger time delays, making the stability analysis nontrivial. Stability condition on maximum tolerable time delay is established and controlled by the proposed two-hop adaptive algorithm. The explicit expression of the delay margin is derived and analyzed in the frequency domain. Both the agent state errors and the estimation parameter errors converge to zero. A simulation example is illustrated to verify the theory results.

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