1,996 research outputs found
Multi-Agent Distributed Coordination Control: Developments and Directions
In this paper, the recent developments on distributed coordination control,
especially the consensus and formation control, are summarized with the graph
theory playing a central role, in order to present a cohesive overview of the
multi-agent distributed coordination control, together with brief reviews of
some closely related issues including rendezvous/alignment, swarming/flocking
and containment control.In terms of the consensus problem, the recent results
on consensus for the agents with different dynamics from first-order,
second-order to high-order linear and nonlinear dynamics, under different
communication conditions, such as cases with/without switching communication
topology and varying time-delays, are reviewed, in which the algebraic graph
theory is very useful in the protocol designs, stability proofs and converging
analysis. In terms of the formation control problem, after reviewing the
results of the algebraic graph theory employed in the formation control, we
mainly pay attention to the developments of the rigid and persistent graphs.
With the notions of rigidity and persistence, the formation transformation,
splitting and reconstruction can be completed, and consequently the range-based
formation control laws are designed with the least required information in
order to maintain a formation rigid/persistent. Afterwards, the recent results
on rendezvous/alignment, swarming/flocking and containment control, which are
very closely related to consensus and formation control, are briefly
introduced, in order to present an integrated view of the graph theory used in
the coordination control problem. Finally, towards the practical applications,
some directions possibly deserving investigation in coordination control are
raised as well.Comment: 28 pages, 8 figure
Nonlinear Consensus Strategies for Multi-Agent Networks in Presence of Communication Delays and Switching Topologies: Real-Time Receding Horizon Approach
This paper presents a novel framework which combines a non-iterative solution
of Real-Time Nonlinear Receding Horizon Control (NRHC) methodology to achieve
consensus within complex network topologies with existing time-delays and in
presence of switching topologies. In this formulation, we solve the distributed
nonlinear optimization problem for multi-agent network systems directly,
\emph{in real-time}, without any dependency on iterative processes, where the
stability and convergence guarantees are provided for the solution. Three
benchmark examples on non-linear chaotic systems provide validated results
which demonstrate the significant outcomes of such methodology.Comment: 26 pages, 8 figures (under review). arXiv admin note: substantial
text overlap with arXiv:1510.0779
Fixed-time consensus of multiple double-integrator systems under directed topologies: A motion-planning approach
This paper investigates the fixed-time consensus problem under directed
topologies. By using a motion-planning approach, a class of distributed
fixed-time algorithms are developed for a multi-agent system with
double-integrator dynamics. In the context of the fixed-time consensus, we
focus on both directed fixed and switching topologies. Under the directed fixed
topology, a novel class of distributed algorithms are designed, which guarantee
the consensus of the multi-agent system with a fixed settling time if the
topology has a directed spanning tree. Under the directed periodically
switching topologies, the fixedtime consensus is solved via the proposed
algorithms if the topologies jointly have a directed spanning tree. In
particular, the fixed settling time can be off-line pre-assigned according to
task requirements. Compared with the existing results, to our best knowledge,
it is the first time to solve the fixed-time consensus problem for
double-integrator systems under directed topologies. Finally, a numerical
example is given to illustrate the effectiveness of the analytical results
Distributed Real-Time Non-Linear Receding Horizon Control Methodology for Multi-Agent Consensus Problems
This work investigates the consensus problem for multi-agent nonlinear
systems through the distributed real-time nonlinear receding horizon control
methodology. With this work, we develop a scheme to reach the consensus for
nonlinear multi agent systems under fixed directed/undirected graph(s) without
the need of any linearization techniques. For this purpose, the problem of
consensus is converted into an optimization problem and is directly solved by
the backwards sweep Riccati method to generate the control protocol which
results in a non-iterative algorithm. Stability analysis is conducted to
provide convergence guarantees of proposed scheme. In addition, an extension to
the leader-following consensus of nonlinear multi-agent systems is presented.
Several examples are provided to validate and demonstrate the effectiveness of
the presented scheme and the corresponding theoretical results.Comment: (submitted and under review in Applied Mathematics and Computation
Designing Distributed Fixed-Time Consensus Protocols for Linear Multi-Agent Systems Over Directed Graphs
This technical note addresses the distributed fixed-time consensus protocol
design problem for multi-agent systems with general linear dynamics over
directed communication graphs. By using motion planning approaches, a class of
distributed fixed-time consensus algorithms are developed, which rely only on
the sampling information at some sampling instants. For linear multi-agent
systems, the proposed algorithms solve the fixed-time consensus problem for any
directed graph containing a directed spanning tree. In particular, the settling
time can be off-line pre-assigned according to task requirements. Compared with
the existing results for multi-agent systems, to our best knowledge, it is the
first-time to solve fixed-time consensus problems for general linear
multi-agent systems over directed graphs having a directed spanning tree.
Extensions to the fixed-time formation flying are further studied for multiple
satellites described by Hill equations
On finite-time and fixed-time consensus algorithms for dynamic networks switching among disconnected digraphs
The aim of this paper is to analyze a class of consensus algorithms with
finite-time or fixed-time convergence for dynamic networks formed by agents
with first-order dynamics. In particular, in the analyzed class a single
evaluation of a nonlinear function of the consensus error is performed per each
node. The classical assumption of switching among connected graphs is dropped
here, allowing to represent failures and intermittent communications between
agents. Thus, conditions to guarantee finite and fixed-time convergence, even
while switching among disconnected graphs, are provided. Moreover, the
algorithms of the considered class are shown to be computationally simpler than
previously proposed finite-time consensus algorithms for dynamic networks,
which is an important feature in scenarios with computationally limited nodes
and energy efficiency requirements such as in sensor networks. The performance
of the considered consensus algorithms is illustrated through simulations,
comparing it to existing approaches for dynamic networks with finite-time and
fixed-time convergence. It is shown that the settling time of the considered
algorithms grows slower when the number of nodes increases than with other
consensus algorithms for dynamic networks
Convergence Analysis using the Edge Laplacian: Robust Consensus of Nonlinear Multi-agent Systems via ISS Method
This study develops an original and innovative matrix representation with
respect to the information flow for networked multi-agent system. To begin
with, the general concepts of the edge Laplacian of digraph are proposed with
its algebraic properties. Benefit from this novel graph-theoretic tool, we can
build a bridge between the consensus problem and the edge agreement problem; we
also show that the edge Laplacian sheds a new light on solving the leaderless
consensus problem. Based on the edge agreement framework, the technical
challenges caused by unknown but bounded disturbances and inherently nonlinear
dynamics can be well handled. In particular, we design an integrated procedure
for a new robust consensus protocol that is based on a blend of algebraic graph
theory and the newly developed cyclic-small-gain theorem. Besides, to highlight
the intricate relationship between the original graph and cyclic-small-gain
theorem, the concept of edge-interconnection graph is introduced for the first
time. Finally, simulation results are provided to verify the theoretical
analysis.Comment: 22 pages, 10 figures; Submitted to International Journal of Robust
and Nonlinear Contro
Edge Agreement of Multi-agent System with Quantized Measurements via the Directed Edge Laplacian
This work explores the edge agreement problem of second-order nonlinear
multi-agent system under quantized measurements. Under the edge agreement
framework, we introduce an important concept about the \emph{essential edge
Laplacian} and also obtain a reduced model of the edge agreement dynamics based
on the spanning tree subgraph. The quantized edge agreement problem of
second-order nonlinear multi-agent system is studied, in which both uniform and
logarithmic quantizers are considered. We do not only guarantee the stability
of the proposed quantized control law, but also reveal the explicit
mathematical connection of the quantized interval and the convergence
properties for both uniform and logarithmic quantizers, which has not been
addressed before. Particularly, for uniform quantizers, we provide the upper
bound of the radius of the agreement neighborhood and indicate that the radius
increases with the quantization interval. While for logarithmic quantizers, the
agents converge exponentially to the desired agreement equilibrium. In
addition, we figure out the relationship of the quantization interval and the
convergence speed and also provide the estimates of the convergence rate.
Finally, simulation results are given to verify the theoretical analysis.Comment: 16 pages, 10 figures; Round2, revised to IET Control Theory &
Applications, 201
On the Synchronization of Second-Order Nonlinear Systems with Communication Constraints
This paper studies the synchronization problem of second-order nonlinear
multi-agent systems with intermittent communication in the presence of
irregular communication delays and possible information loss. The control
objective is to steer all systems' positions to a common position with a
prescribed desired velocity available to only some leaders. Based on the
small-gain framework, we propose a synchronization scheme relying on an
intermittent information exchange protocol in the presence of time delays and
possible packet dropout. We show that our control objectives are achieved with
a simple selection of the control gains provided that the directed graph,
describing the interconnection between all systems (or agents), contains a
spanning tree. The example of Euler-Lagrange systems is considered to
illustrate the application and effectiveness of the proposed approach.Comment: 21 pages, 8 figures. Submitted for journal publicatio
Adaptive Leader-Following Consensus for a Class of Higher-Order Nonlinear Multi-Agent Systems with Directed Switching Networks
In this paper, we study the leader-following consensus problem for a class of
uncertain nonlinear multi-agent systems under jointly connected directed
switching networks. The uncertainty includes constant unbounded parameters and
external disturbances. We first extend the recent result on the adaptive
distributed observer from global asymptotical convergence to global exponential
convergence. Then, by integrating the conventional adaptive control technique
with the adaptive distributed observer, we present our solution by a
distributed adaptive state feedback control law. Our result is illustrated by
the leader-following consensus problem for a group of van der Pol oscillators.Comment: 21 pages, 5 figures. In this replacement version, the higher-order
case is considered instead of the second-order case. Also, the main
difference of this version from the reference [16] is that Appendix B is
added to show the existence of the limit of the function V(t) defined in the
equation (33) as t tends to infinit
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