2,738 research outputs found
Random consensus in nonlinear systems under fixed topology
This paper investigates the consensus problem in almost sure sense for
uncertain multi-agent systems with noises and fixed topology. By combining the
tools of stochastic analysis, algebraic graph theory, and matrix theory, we
analyze the convergence of a class of distributed stochastic type non-linear
protocols. Numerical examples are given to illustrate the results.Comment: 9 pages, 5 figures. arXiv admin note: text overlap with
arXiv:0909.316
Leader-following Consensus Problems with a Time-varying Leader under Measurement Noises
In this paper, we consider a leader-following consensus problem for networks
of continuous-time integrator agents with a time-varying leader under
measurement noises. We propose a neighbor-based state-estimation protocol for
every agent to track the leader, and time-varying consensus gains are
introduced to attenuate the noises. By combining the tools of stochastic
analysis and algebraic graph theory, we study mean square convergence of this
multi-agent system under directed fixed as well as switching interconnection
topologies. Sufficient conditions are given for mean square consensus in both
cases. Finally, a numerical example is given to illustrate our theoretical
results.Comment: 12 pages 3 figure
Containment control of multi-agent systems with measurement noises
In this paper, containment control of multi-agent systems with measurement
noises is studied under directed networks. When the leaders are stationary, a
stochastic approximation type protocol is employed to solve the containment
control of multi-agent systems. By using stochastic analysis tools and
algebraic graph theory, some necessary and sufficient criteria are established
to ensure the followers converge to the convex hull spanned by the leaders in
the sense of mean square and probability 1. When the leasers are dynamic, a
stochastic approximation type protocol with distributed estimators is developed
and necessary and sufficient conditions are also obtained for solving the
containment control problem. Simulations are provided to illustrate the
effectiveness of the theoretical results.Comment: 8 page
Synchronization in Networks of Coupled Harmonic Oscillators with Stochastic Perturbation and Time Delays
In this paper, we investigate synchronization of coupled second-order linear
harmonic oscillators with random noises and time delays. The interaction
topology is modeled by a weighted directed graph and the weights are perturbed
by white noise. On the basis of stability theory of stochastic differential
delay equations, algebraic graph theory and matrix theory, we show that the
coupled harmonic oscillators can be synchronized almost surely with
perturbation and time delays. Numerical examples are presented to illustrate
our theoretical results.Comment: 9 pages 5 figure
On Non-Consensus Motions of Dynamical Linear Multi-Agent Systems
The non-consensus problems of high order linear time-invariant dynamical
homogeneous multi-agent systems are concerned. Based on the conditions of
consensus achievement, the mechanisms that lead to non-consensus motions are
analyzed. Besides, a comprehensive classification for diverse types of
non-consensus phases in accordance to the different conditions is conducted,
which is jointly depending on the self-dynamics of agents, the interactive
protocol and the graph topology. A series of numerical examples are
demonstrated to illustrate the theoretical analysis
Consensus Seeking in Multi-Agent Systems with Multiplicative Measurement Noises
In this paper, the consensus problems of the continuous-time integrator
systems under noisy measurements are considered. The measurement noises, which
appear when agents measure their neighbors' states, are modeled to be
multiplicative. By multiplication of the noises, here, the noise intensities
are proportional to the absolute value of the relative states of agent and its
neighbor. By using known distributed protocols for integrator agent systems,
the closed-loop {system is} described in the vector form by a singular
stochastic differential equation. For the fixed and switching network
topologies cases, constant consensus gains are properly selected, such that
mean square consensus and strong consensus can be achieved. Especially,
exponential mean square convergence of agents' states to the common value is
derived for the fixed topology case. In addition, asymptotic unbiased mean
square average consensus and asymptotic unbiased strong average consensus are
also studied. Simulations shed light on the effectiveness of the proposed
theoretical results
Consensus of switched multi-agent systems
In this paper, we consider the consensus problem of switched multi-agent
system composed of continuous-time and discrete-time subsystems. By combining
the classical consensus protocols of continuous-time and discrete-time
multi-agent systems, we propose a linear consensus protocol for switched
multi-agent system. Based on the graph theory and Lyapunov theory, we prove
that the consensus of switched multi-agent system is solvable under arbitrary
switching with undirected connected graph, directed graph and switching
topologies, respectively. Simulation examples are also provided to demonstrate
the effectiveness of the theoretical results.Comment: 16 pages, 4 figure
Approximate Consensus Multi-Agent Control Under Stochastic Environment with Application to Load Balancing
The paper is devoted to the approximate consensus problem for networks of
nonlinear agents with switching topology, noisy and delayed measurements. In
contrast to the existing stochastic approximation-based control algorithms
(protocols), a local voting protocol with nonvanishing step size is proposed.
Nonvanishing (e.g., constant) step size protocols give the opportunity to
achieve better convergence rate (by choosing proper step sizes) in coping with
time-varying loads and agent states. The price to pay is replacement of the
mean square convergence with an approximate one. To analyze dynamics of the
closed loop system, the so-called method of averaged models is used. It allows
to reduce analysis complexity of the closed loop system. In this paper the
upper bounds for mean square distance between the initial system and its
approximate averaged model are proposed. The proposed upper bounds are used to
obtain conditions for approximate consensus achievement.
The method is applied to the load balancing problem in stochastic dynamic
networks with incomplete information about the current states of agents and
with changing set of communication links. The load balancing problem is
formulated as consensus problem in noisy model with switched topology. The
conditions to achieve the optimal level of load balancing (in the sense that if
no new task arrives, all agents will finish at the same time) are obtained.
The performance of the system is evaluated analytically and by simulation. It
is shown that the performance of the adaptive multi-agent strategy with the
redistribution of tasks among "connected" neighbors is significantly better
than the performance without redistribution. The obtained results are important
for control of production networks, multiprocessor, sensor or multicomputer
networks, etc.Comment: 10 pages, 8 figure
Robust Consensus for Multi-Agent Systems Communicating over Stochastic Uncertain Networks
In this paper, we study the robust consensus problem for a set of
discrete-time linear agents to coordinate over an uncertain communication
network, which is to achieve consensus against the transmission errors and
noises resulted from the information exchange between the agents. We model the
network by means of communication links subject to multiplicative stochastic
uncertainties, which are susceptible to describing packet dropout, random
delay, and fading phenomena. Different communication topologies, such as
undirected graphs and leader-follower graphs, are considered. We derive
sufficient conditions for robust consensus in the mean square sense. This
results unveil intrinsic constraints on consensus attainment imposed by the
network synchronizability, the unstable agent dynamics, and the channel
uncertainty variances. Consensus protocols are designed based on the state
information transmitted over the uncertain channels, by solving a modified
algebraic Riccati equation.Comment: 9 pages and 3 figures. Submitted to Automatic
Critical Connectivity and Fastest Convergence Rates of Distributed Consensus with Switching Topologies and Additive Noises
Consensus conditions and convergence speeds are crucial for distributed
consensus algorithms of networked systems. Based on a basic first-order
average-consensus protocol with time-varying topologies and additive noises,
this paper first investigates its critical consensus condition on network
topology by stochastic approximation frameworks. A new joint-connectivity
condition called extensible joint-connectivity that contains a parameter
(termed the extensible exponent) is proposed. With this and a balanced
topology condition, we show that a critical value of for consensus is
. Optimization on convergence rate of this protocol is further
investigated. It is proved that the fastest convergence rate, which is the
theoretic optimal rate among all controls, is of the order for the best
topologies, and is of the order for the worst topologies
which are balanced and satisfy the extensible joint-connectivity condition. For
practical implementation, certain open-loop control strategies are introduced
to achieve consensus with a convergence rate of the same order as the fastest
convergence rate. Furthermore, a consensus condition is derived for non
stationary and strongly correlated random topologies. The algorithms and
consensus conditions are applied to distributed consensus computation of mobile
ad-hoc networks; and their related critical exponents are derived from relative
velocities of mobile agents for guaranteeing consensus.Comment: 36 pages, 0 figur
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