Designing Fully Distributed Consensus Protocols for Linear Multi-Agent Systems With Directed Graphs

By Zhongkui Li, Guanghui Wen, Z. Duan, Wei Ren. IEEE Transactions on Automatic Control, 2013

971 citations recorded by the source corpus.

This technical note addresses the distributed consensus protocol design problem for multi-agent systems with general linear dynamics and directed communication graphs. Existing works usually design consensus protocols using the smallest real part of the nonzero eigenvalues of the Laplacian matrix associated with the communication graph, which however is global information. In this technical note, based on only the agent dynamics and the relative states of neighboring agents, a distributed adaptive consensus protocol is designed to achieve leader-follower consensus in the presence of a leader with a zero input for any communication graph containing a directed spanning tree with the leader as the root node. The proposed adaptive protocol is independent of any global information of the communication graph and thereby is fully distributed. Extensions to the case with multiple leaders are further studied.

Subfields: Computer Networks and Communications

View Paper: https://www.semanticscholar.org/paper/f921cbf0663f8b5683bed8d2ca9166cd95cfce5a

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In Computer Networks and Communications

1. Zhongkui Li
2. Zongyu Zuo
3. Yongduan Song
4. Guoqiang Hu
5. Jie Mei
6. Michael Defoort
7. Wei Ren
8. Mohamed Djemai

Citations in the corpus

• Fully Distributed Event-Triggered Protocols for Linear Multiagent Networks (2018, background): “(2) Inspired by the adaptive consensus protocols with continuous communications in [3] and [4], we propose a distributed event-based state feedback adaptive control law for each agent as follows:”
• Fault-Tolerant Consensus Tracking Control for Linear Multiagent Systems Under Switching Directed Network (2020, background): “Lemma 1 [10]: Let L be a nonsingular M -matrix, then there exists a positive diagonal matrix The following actuator fault model in follower subsystems is considered: where k = 1 , 2 , . . . , n u , m = 1 , 2 , . . . , M , ρ mi , k represents the unknown actuator fault parameter, satisfying 0 is an…”
• Prescribed-Time Consensus and Containment Control of Networked Multiagent Systems (2019, positive): “The following Lemma, borrowing from [31], gives a useful property of L1.”
• Secure Cooperative Event-Triggered Control of Linear Multiagent Systems Under DoS Attacks (2020, background): “Lemma 2 [6]: Under Assumption 2 and Lemma 1, there exists a positive diagonal matrix such that =  H + H T > 0.”
• Distributed Consensus of Second-Order Multi-Agent Systems With Heterogeneous Unknown Inertias and Control Gains Under a Directed Graph (2016, background): “In [22] and [23], the leader-following consensus problem is studied for multi-agent systems with, respectively, first-order nonlinear dynamics and general linear dynamics.”
• Time-Varying Formation Tracking for Second-Order Multi-Agent Systems Subjected to Switching Topologies With Application to Quadrotor Formation Flying (2017, neutral): “, [25]–[30], and the references therein).”
• Fixed-time stabilization and consensus of nonholonomic systems (2016, positive): “It has been deeply studied for single integrator MAS [19], second-order MAS [20, 21, 22] and general linear MAS [23].”