Distributed consensus of linear multi-agent systems with adaptive dynamic protocols

By Zhongkui Li, Wei Ren, Xiangdong Liu, Lihua Xie. at - Automatisierungstechnik, 2011

646 citations recorded by the source corpus.

Abstract This paper considers the distributed consensus problem of multi-agent systems with general continuous-time linear dynamics for both the cases without and with a leader whose control input might be nonzero and time varying. For the case without a leader, based on the relative output information of neighboring agents, two types of distributed adaptive dynamic consensus protocols are proposed, namely, the edge-based adaptive protocol which assigns a time-varying coupling weight to each edge in the communication graph and the node-based adaptive protocol which uses a time-varying coupling weight for each node. These two adaptive protocols are designed to ensure that consensus is reached in a fully distributed fashion for all undirected connected communication graphs. It is shown that the edge-based adaptive consensus protocol is applicable to arbitrary switching connected graphs. For the case where there exists a leader whose control input is possibly nonzero and bounded, a distributed continuous adaptive protocol is designed to guarantee the ultimate boundedness of the consensus error with respect to any communication graph which contains a directed spanning tree with the leader as the root and whose subgraph associated with the followers is undirected, requiring neither global information of the communication graph nor the upper bound of the leader’s control input. A distributed discontinuous protocol is also discussed as a special case. Simulation examples are finally given to illustrate the theoretical results.

Subfields: Computer Networks and Communications

View Paper: https://www.semanticscholar.org/paper/45cf3a94400c33ba951ccfd3c3b215d96a63fbab

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In Computer Networks and Communications

Citations in the corpus

Adaptive Event-Triggered Consensus of Multiagent Systems on Directed Graphs (2021, methodology): “This implies that the existing results about leader–follower consensus with the leader of a bounded input (e.g., [14]) and those in the last subsection do not solve adaptive event-triggered leader–follower consensus with the leader of a bounded input.”
A Second-Order Multi-Agent Network for Bound-Constrained Distributed Optimization (2015, neutral): “, see [18], [24] and references therein).”
Distributed Consensus of Second-Order Multi-Agent Systems With Heterogeneous Unknown Inertias and Control Gains Under a Directed Graph (2016, background): “Examples include the distributed adaptive coordination algorithm design for multiple nonlinear systems [18]–[20] and general linear multi-agent systems [21].”
Neural Network-Based Adaptive Leader-Following Consensus Control for a Class of Nonlinear Multiagent State-Delay Systems (2017, methodology): “In [8], two novel distributed adaptive dynamic consensus protocols are proposed, in which one protocol assigns an adaptive coupling weight to each edge in communication graph and the other uses an adaptive coupling weight for each node.”
Designing Fully Distributed Consensus Protocols for Linear Multi-Agent Systems With Directed Graphs (2013, methodology): “Compared to the distributed adaptive protocols in [12], [13] for undirecte d graphs, a distinct feature of the adaptive protocol in this technical note is that monotonically incre asing functions, inspired by the changing supply function notion in [16], are introduced to provide ex tra freedom for d”
Adaptive Fault-Tolerant Tracking Control for Linear and Lipschitz Nonlinear Multi-Agent Systems (2015, methodology): “By using the neighbor-based state estimation rule, tracking control for MASs with an active leader is studied in [12]–[14].”
Opinion dynamics in social networks with stubborn agents: Equilibrium and convergence rate (2014, neutral): “, [13], [14], [15], [16], [17], [37], [38], [39], [41].”
A new observer-type consensus protocol for linear multi-agent dynamical systems (2011, background): “Furthermore, a class of fully distributed consensus protocols for linear multi-agent systems was proposed by using an adaptive control approach in [33].”
Event-Triggered Adaptive Tracking Control for Multiagent Systems With Unknown Disturbances (2020, methodology): “[15] proposed a distributed continuous adaptive method for multiagent systems with a linear dynamic.”
Distributed Control Strategies for Microgrids: An Overview (2020, neutral): “…types of consensus protocols has also been discussed in the literature [85]–[88], such as second-order consensus [89]–[91], adaptive consensus [92]–[94], consensus with constraints [95], [96], event-triggered consensus [97], [98], ﬁnite-time consensus [99], [100], delay-robust consensus, linear…”
Observer-Based Output Feedback Event-Triggered Control for Consensus of Multi-Agent Systems (2014, background): “In recent years, the distributed coordinated control problem of multi-agent systems (MASs) has received increasing attention from various scientific communities due to its potential applications in broad areas such as robot and vehicle formation, sensor networks [5], [6], [17], [19]–[22], [30], [31]”
Distributed robust consensus control of multi-agent systems with heterogeneous matching uncertainties (2013, background): “The agents (2) can recover the nominal linear agents in [9,10,29,20,19,11,22,23] when the uncertainties fi(xi, t) do not exist.”