1,169 research outputs found
Coordination of passive systems under quantized measurements
In this paper we investigate a passivity approach to collective coordination
and synchronization problems in the presence of quantized measurements and show
that coordination tasks can be achieved in a practical sense for a large class
of passive systems.Comment: 40 pages, 1 figure, submitted to journal, second round of revie
Discontinuities and hysteresis in quantized average consensus
We consider continuous-time average consensus dynamics in which the agents'
states are communicated through uniform quantizers. Solutions to the resulting
system are defined in the Krasowskii sense and are proven to converge to
conditions of "practical consensus". To cope with undesired chattering
phenomena we introduce a hysteretic quantizer, and we study the convergence
properties of the resulting dynamics by a hybrid system approach.Comment: 26 pages, 7 figures. Accepted for publication in Automatica. v4 is
minor revision of v
Distributed Consensus of Linear Multi-Agent Systems with Adaptive Dynamic Protocols
This paper considers the distributed consensus problem of multi-agent systems
with general continuous-time linear dynamics. Two distributed adaptive dynamic
consensus protocols are proposed, based on the relative output information of
neighboring agents. One protocol assigns an adaptive coupling weight to each
edge in the communication graph while the other uses an adaptive coupling
weight for each node. These two adaptive protocols are designed to ensure that
consensus is reached in a fully distributed fashion for any undirected
connected communication graphs without using any global information. A
sufficient condition for the existence of these adaptive protocols is that each
agent is stabilizable and detectable. The cases with leader-follower and
switching communication graphs are also studied.Comment: 17 pages, 5 figue
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