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38
An overview of recent progress in the study of distributed multi-agent coordination
, 2012
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Second-order consensus for multiagent systems with directed topologies and nonlinear dynamics
- IEEE Transactions on Automatic Control
"... Abstract—This paper considers a second-order consensus prob-lem for multiagent systems with nonlinear dynamics and directed topologies where each agent is governed by both position and ve-locity consensus terms with a time-varying asymptotic velocity. To describe the system’s ability for reaching co ..."
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Cited by 26 (4 self)
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Abstract—This paper considers a second-order consensus prob-lem for multiagent systems with nonlinear dynamics and directed topologies where each agent is governed by both position and ve-locity consensus terms with a time-varying asymptotic velocity. To describe the system’s ability for reaching consensus, a new concept about the generalized algebraic connectivity is defined for strongly connected networks and then extended to the strongly connected components of the directed network containing a spanning tree. Some sufficient conditions are derived for reaching second-order consensus in multiagent systems with nonlinear dynamics based on algebraic graph theory, matrix theory, and Lyapunov control approach. Finally, simulation examples are given to verify the theoretical analysis. Index Terms—Algebraic connectivity, directed spanning tree, multiagent system, second-order consensus, strongly connected network. I.
SYNCHRONIZATION VIA PINNING CONTROL ON GENERAL COMPLEX NETWORKS
, 2013
"... This paper studies synchronization via pinning control on general complex dynamical networks, such as strongly connected networks, networks with a directed spanning tree, weakly connected networks, and directed forests. A criterion for ensuring network synchronization on strongly connected network ..."
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Cited by 9 (0 self)
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This paper studies synchronization via pinning control on general complex dynamical networks, such as strongly connected networks, networks with a directed spanning tree, weakly connected networks, and directed forests. A criterion for ensuring network synchronization on strongly connected networks is given. It is found that the vertices with very small in-degrees should be pinned first. In addition, it is shown that the original condition with controllers can be reformulated such that it does not depend on the form of the chosen controllers, which implies that the vertices with very large out-degrees may be pinned. Then, a criterion for achieving synchronization on networks with a directed spanning tree, which can be composed of many strongly connected components, is derived. It is found that the strongly connected components with very few connections from other components should be controlled and the components with many connections from other components can achieve synchronization even without controls. Moreover, a simple but effective pinning algorithm for reaching synchronization on a general complex dynamical network is proposed. Finally, some simulation examples are given to verify the proposed pinning scheme.
Distributed Higher Order Consensus Protocols in Multiagent Dynamical Systems
, 2011
"... This paper studies general higher order distributed consensus protocols in multiagent dynamical systems. First, network synchronization is investigated, with some necessary and sufficient conditions derived for higher order consensus. It is found that consensus can be reached if and only if all sub ..."
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Cited by 6 (1 self)
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This paper studies general higher order distributed consensus protocols in multiagent dynamical systems. First, network synchronization is investigated, with some necessary and sufficient conditions derived for higher order consensus. It is found that consensus can be reached if and only if all subsystems are asymptotically stable. Based on this result, consensus regions are characterized. It is proved that for the th-order consensus, there are at most ( +1) 2 disconnected stable and unstable consensus regions. It is shown that consensus can be achieved if and only if all the nonzero eigenvalues of the Laplacian matrix lie in the stable consensus regions. Moreover, the ratio of the largest to the smallest nonzero eigenvalues of the Laplacian matrix plays a key role in reaching consensus and a scheme for choosing the coupling strength is derived. Furthermore, a leader-follower control problem in multiagent dynamical systems is considered, which reveals that to reach consensus the agents with very small degrees must be informed. Finally, simulation examples are given to illustrate the theoretical analysis.
Robust consensus for a class of uncertain multi-agent dynamical systems
- IEEE Transactions on Industrial Informatics
"... Abstract—This paper investigates robust consensus for a class of uncertain multi-agent dynamical systems. Specifically, it is sup-posed that the system is described by a weighted adjacency ma-trix whose entries are polynomial functions of an uncertain vector constrained in a semi-algebraic set. For ..."
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Cited by 3 (3 self)
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Abstract—This paper investigates robust consensus for a class of uncertain multi-agent dynamical systems. Specifically, it is sup-posed that the system is described by a weighted adjacency ma-trix whose entries are polynomial functions of an uncertain vector constrained in a semi-algebraic set. For this uncertain topology, we provide necessary and sufficient conditions for ensuring ro-bust first-order consensus and robust second-order consensus, in both cases of positive and non-positive weighted adjacency ma-trices. Moreover, we show how these conditions can be investigated through convex programming by using standard software. Some numerical examples illustrate the proposed results. Index Terms—Convex programming,multi-agent system, robust consensus, uncertain system. I.
Fast consensus via predictive pinning control
- IEEE Transactions on Circuits and Systems. I. Regular Papers
, 2011
"... ©2011 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other wo ..."
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Cited by 2 (0 self)
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©2011 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.
Undamped nonlinear consensus using integral Lyapunov functions
- In IEEE American Control Conference
"... Abstract—This paper analyzes a class of nonlinear consensus algorithms where the input of an agent can be decoupled into a product of a gain function of the agents own state, and a sum of interaction functions of the relative states of its neighbors. We prove the stability of the protocol for both s ..."
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Cited by 1 (1 self)
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Abstract—This paper analyzes a class of nonlinear consensus algorithms where the input of an agent can be decoupled into a product of a gain function of the agents own state, and a sum of interaction functions of the relative states of its neighbors. We prove the stability of the protocol for both single and double integrator dynamics using novel Lyapunov functions, and provide explicit formulas for the consensus points. The results are demonstrated through simulations of a realistic example within the framework of our proposed consensus algorithm. I.
Contents Acknowledgements ix
, 1981
"... ter verkrijging van de graad van doctor aan de ..."
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Optimal Step-Size of a Local Voting Protocol for Differentiated Consensuses Achievement in a Stochastic Network with Cost Constraints
"... Abstract-This paper deals with a "differentiated consensuses" problem in a distributed stochastic network system with priorities and cost constraints on system topology. The network is considered as a set of heterogeneous agents that process incoming tasks with different importance (prior ..."
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Abstract-This paper deals with a "differentiated consensuses" problem in a distributed stochastic network system with priorities and cost constraints on system topology. The network is considered as a set of heterogeneous agents that process incoming tasks with different importance (priority) levels. The observations about neighbors' states are supposed to be obtained with random noise and delays and the topology could switch over time. Several consensus objectives are to be achieved. To maintain almost balanced load under cost constraints on network topology, i.e. approximate consensus for every priority class across the network, a new family of control protocols that use different step-size parameters for each task class is introduced. An instrument for choosing optimal stepsizes for the proposed control strategy is given. In addition, a numerical example that illustrates the proposed control strategy and the results of simulations are provided.
