2,512 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
Coordination of Multi-Agent Systems under Switching Topologies via Disturbance Observer Based Approach
In this paper, a leader-following coordination problem of heterogeneous
multi-agent systems is considered under switching topologies where each agent
is subject to some local (unbounded) disturbances. While these unknown
disturbances may disrupt the performance of agents, a disturbance observer
based approach is employed to estimate and reject them. Varying communication
topologies are also taken into consideration, and their byproduct difficulties
are overcome by using common Lyapunov function techniques. According to the
available information in difference cases, two disturbance observer based
protocols are proposed to solve this problem. Their effectiveness is verified
by simulations.Comment: 12 pages, 4 figures, 2 table
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
A Supermodular Optimization Framework for Leader Selection under Link Noise in Linear Multi-Agent Systems
In many applications of multi-agent systems (MAS), a set of leader agents
acts as a control input to the remaining follower agents. In this paper, we
introduce an analytical approach to selecting leader agents in order to
minimize the total mean-square error of the follower agent states from their
desired value in steady-state in the presence of noisy communication links. We
show that the problem of choosing leaders in order to minimize this error can
be solved using supermodular optimization techniques, leading to efficient
algorithms that are within a provable bound of the optimum. We formulate two
leader selection problems within our framework, namely the problem of choosing
a fixed number of leaders to minimize the error, as well as the problem of
choosing the minimum number of leaders to achieve a tolerated level of error.
We study both leader selection criteria for different scenarios, including MAS
with static topologies, topologies experiencing random link or node failures,
switching topologies, and topologies that vary arbitrarily in time due to node
mobility. In addition to providing provable bounds for all these cases,
simulation results demonstrate that our approach outperforms other leader
selection methods, such as node degree-based and random selection methods, and
provides comparable performance to current state of the art algorithms
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
Consensus in continuous-time multi-agent systems under discontinuous nonlinear protocols
In this paper, we provide a theoretical analysis for nonlinear discontinuous
consensus protocols in networks of multiagents over weighted directed graphs.
By integrating the analytic tools from nonsmooth stability analysis and graph
theory, we investigate networks with both fixed topology and randomly switching
topology. For networks with a fixed topology, we provide a sufficient and
necessary condition for asymptotic consensus, and the consensus value can be
explicitly calculated. As to networks with switching topologies, we provide a
sufficient condition for the network to realize consensus almost surely.
Particularly, we consider the case that the switching sequence is independent
and identically distributed. As applications of the theoretical results, we
introduce a generalized blinking model and show that consensus can be realized
almost surely under the proposed protocols. Numerical simulations are also
provided to illustrate the theoretical results
An Output-Feedback Control Approach to the Consensus Integrated with Transient Performance Improvement Problem
This paper considers the consensus performance improvement problem of
networked general linear agents subject to external disturbances over Markovian
randomly switching communication topologies. The consensus control laws can
only use its local output information. Firstly, a class of full-order
observer-based control protocols is proposed to solve this problem, which
depends solely on the relative outputs of neighbours. Then, to eliminate the
redundancy involved in the full-order observer, a class of reduced-order
observer-based control protocols is designed. Algorithms to construct both
protocols are presented, which guarantee that agents can reach consensus in the
asymptotic mean square sense when they are not perturbed by disturbances, and
that they have decent performance and transient performance when
the disturbances exist. At the end of this manuscript, numerical simulations
which apply both algorithms to four networked Raptor-90 helicopters are
performed to verify the theoretical results
Minimum-Rank Dynamic Output Consensus Design for Heterogeneous Nonlinear Multi-Agent Systems
In this paper, we propose a new and systematic design framework for output
consensus in heterogeneous Multi-Input Multi-Output (MIMO) general nonlinear
Multi-Agent Systems (MASs) subjected to directed communication topology. First,
the input-output feedback linearization method is utilized assuming that the
internal dynamics is Input-to-State Stable (ISS) to obtain linearized
subsystems of agents. Consequently, we propose local dynamic controllers for
agents such that the linearized subsystems have an identical closed-loop
dynamics which has a single pole at the origin whereas other poles are on the
open left half complex plane. This allows us to deal with distinct agents
having arbitrarily vector relative degrees and to derive rank- cooperative
control inputs for those homogeneous linearized dynamics which results in a
minimum rank distributed dynamic consensus controller for the initial nonlinear
MAS. Moreover, we prove that the coupling strength in the consensus protocol
can be arbitrarily small but positive and hence our consensus design is
non-conservative. Next, our design approach is further strengthened by tackling
the problem of randomly switching communication topologies among agents where
we relax the assumption on the balance of each switched graph and derive a
distributed rank- dynamic consensus controller. Lastly, a numerical example
is introduced to illustrate the effectiveness of our proposed framework.Comment: Revised version submitted to IEEE Transactions on Control of Network
System
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
On Convergence Rate of Leader-Following Consensus of Linear Multi-Agent Systems with Communication Noises
This note further studies the previously proposed consensus protocol for
linear multi-agent systems with communication noises in [15], [16]. Each agent
is allowed to have its own time-varying gain to attenuate the effect of
communication noises. Therefore, the common assumption in most references that
all agents have the same noise-attenuation gain is not necessary. It has been
proved that if all noise-attenuation gains are infinitesimal of the same order,
then the mean square leader-following consensus can be reached. Furthermore,
the convergence rate of the multi-agent system has been investigated. If the
noise-attenuation gains belong to a class of functions which are bounded above
and below by asymptotically, then the states of
all follower agents are convergent in mean square to the leader's state with
the rate characterized by a function bounded above by
asymptotically
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