Average consensus of multi-agent systems with communication time delays and noisy links

In this paper,we consider the average-consensus problem with communication time delays and noisy links.We analyze two different cases of coupling topologies:fixed and switching topologies.By utilizing the stability theory of the stochastic differential equations,we analytically show that the average consensus could be achieved almost surely with the perturbation of noise and the communication time delays even if the time delay is time-varying.The theoretical results show that multi-agent systems can tolerate relatively large time delays if the noise is weak,and they can tolerate relatively strong noise if the time delays are low.The simulation results show that systems with strong noise intensities yield slow convergence.     

Consensus protocol for multi-agent continuous systems

Based on the algebraic graph theory, the networked multi-agent continuous systems are investigated. Firstly, the digraph （directed graph） represents the topology of a networked system, and then a consensus convergence criterion of system is proposed. Secondly, the issue of stability of multi-agent systems and the consensus convergence problem of information states are all analysed. Furthermore, the consensus equilibrium point of system is proved to be global and asymptotically reach the convex combination of initial states. Finally, two examples are taken to show the effectiveness of the results obtained in this paper.     

Consensus problems of first-order dynamic multi-agent systems with multiple time delays

Consensus problems of first-order multi-agent systems with multiple time delays are investigated in this paper. We discuss three cases: 1) continuous, 2) discrete, and 3) a continuous system with a proportional plus derivative controller. In each case, the system contains simultaneous communication and input time delays. Supposing a dynamic multi-agent system with directed topology that contains a globally reachable node, the sufficient convergence condition of the system is discussed with respect to each of the three cases based on the generalized Nyquist criterion and the frequency-domain analysis approach, yielding conclusions that are either less conservative than or agree with previously published results. We know that the convergence condition of the system depends mainly on each agent’s input time delay and the adjacent weights but is independent of the communication delay between agents, whether the system is continuous or discrete. Finally, simulation examples are given to verify the theoretical analysis.     

Consensus for second-order multi-agent systems with position sampled data

In this paper, the consensus problem with position sampled data for second-order multi-agent systems is investigated.The interaction topology among the agents is depicted by a directed graph. The full-order and reduced-order observers with position sampled data are proposed, by which two kinds of sampled data-based consensus protocols are constructed. With the provided sampled protocols, the consensus convergence analysis of a continuous-time multi-agent system is equivalently transformed into that of a discrete-time system. Then, by using matrix theory and a sampled control analysis method, some sufficient and necessary consensus conditions based on the coupling parameters, spectrum of the Laplacian matrix and sampling period are obtained. While the sampling period tends to zero, our established necessary and sufficient conditions are degenerated to the continuous-time protocol case, which are consistent with the existing result for the continuous-time case. Finally, the effectiveness of our established results is illustrated by a simple simulation example.     

Consensus problems in multi-agent systems with double integrator model

In this paper, we consider multi-agent consensus problems in a decentralised fashion. The interconnection topology graph among the agents is switching and undirected. The agent dynamics is expressed in the form of a double integrator model. Two different cases are considered in this study. One is the leader-following case and the other is leaderless case. Based on graph theory and common Lyapunov function method, some sufficient conditions are obtained for the consensus stability of the considered systems with the neighbour-based feedback laws in both leader-following case and leaderless case respectively. Finally, two numerical examples are given to illustrate the obtained results.     

Consensus of high-order continuous-time multi-agent systems with time-delays and switching topologies

Consensus problems of high-order continuous-time multi-agent systems with time-delays and switching topologies are studied.The motivation of this work is to extend second-order continuous-time multi-agent systems from the literature.It is shown that consensus can be reached with arbitrarily bounded time-delays even though the communication topology might not have spanning trees.A numerical example is included to show the theoretical results.     

Consensus pursuit of heterogeneous multi-agent systems under a directed acyclic graph

This paper is concerned with the cooperative target pursuit problem by multiple agents based on directed acyclic graph. The target appears at a random location and moves only when sensed by the agents,and agents will pursue the target once they detect its existence. Since the ability of each agent may be different,we consider the heterogeneous multi-agent systems. According to the topology of the multi-agent systems,a novel consensus-based control law is proposed,where the target and agents are modeled as a leader and followers,respectively. Based on Mason’s rule and signal flow graph analysis,the convergence conditions are provided to show that the agents can catch the target in a finite time. Finally,simulation studies are provided to verify the effectiveness of the proposed approach.     

Improving consensual performance of multi-agent systems in weighted scale-free networks

This paper studies consensus problems in weighted scale-free networks of asymmetrically coupled dynamical units, where the asymmetry in a given link is determined by the relative degree of the involved nodes. It shows that the asymmetry of interactions has a great effect on the consensus. Especially, when the interactions are dominant from higher- to lower-degree nodes, both the convergence speed and the robustness to communication delay are enhanced.     

Consensus of heterogeneous multi-agent systems based on sampled data with a small sampling delay

In this paper, consensus problems of heterogeneous multi-agent systems based on sampled data with a small sampling delay are considered. First, a consensus protocol based on sampled data with a small sampling delay for heterogeneous multi-agent systems is proposed. Then, the algebra graph theory, the matrix method, the stability theory of linear systems, and some other techniques are employed to derive the necessary and sufficient conditions guaranteeing heterogeneous multi-agent systems to asymptotically achieve the stationary consensus. Finally, simulations are performed to demonstrate the correctness of the theoretical results.     

Reference model based consensus control of second-order multi-agent systems

This paper deals with the consensus problem of multi-agent systems with second-order dynamics.The objective is to design algorithms such that all agents will have same positions and velocities.First,a reference model based consensus algorithm is proposed.It is proved that the consensus can be achieved if the communication graph has a spanning tree.Different from most of the consensus algorithms proposed in the literature,the parameters of the control laws are different among agents.Therefore,each agent can design its control law independently.Secondly,it gives a consensus algorithm for the case that the velocities of the agents are not available.Thirdly,the effectiveness of the input delay and the communication delay is considered.It shows that consensus can be achieved if the input delay of every agent is smaller than a bound related to parameters in its control law.Finally,some numerical examples are given to illustrate the proposed results.     

Consensus of second-order multi-agent dynamic systems with quantized data

The consensus problem of second-order multi-agent systems with quantized link is investigated in this Letter. Some conditions are derived for the quantized consensus of the second-order multi-agent systems by the stability theory. Moreover, a result characterizing the relationship between the eigenvalues of the Laplacians matrix and the quantized consensus is obtained. Examples are given to illustrate the theoretical analysis.     

Consensus of second-order multi-agent systems with nonuniform time delays

In this study, the consensus problem for a class of second-order multi-agent systems with nonuniform time delays is investigated. A linear consensus protocol is used to make all agents reach consensus and move with a constant velocity. By a frequency-domain analysis, a simplified sufficient condition is given to guarantee the consensus stability of the dynamic system. Finally, the effectiveness of the obtained theoretical results is illustrated through numerical simulations.     

一类异构多智能体系统固定和切换拓扑下的一致性分析

对包含一阶二阶智能体的异构系统有向图中的一致性问题进行研究.对该系统采用了一种线性分布式一致性协议,基于图论和矩阵分析的方法,分析了在固定和切换拓扑情况下系统获得一致性的充分条件,该条件与控制参数和通信拓扑有关.给出了固定拓扑中系统的一致平衡点,证明了仅通信拓扑中的根节点对平衡点起作用.数值仿真验证了理论分析的正确性.     

Rotating consensus of multi-agent systems without relative velocity measurement

We study the rotating consensus of multi-agent systems without the relative velocity measurement in this paper. A new protocol is proposed. Then we use the theory of the complex system combined with the function continuity to derive a condition, under which all agents finally reach the rotating consensus. Finally, a numerical example is provided to illustrate our theoretical results.     

Consensus problems on networks with free protocol

In the real world, rule makers can only restrict, not completely control the behavior of the governed, while the governed can only choose their behavior patterns under these restrictions. In this paper, we design a new control protocol called free protocol to describe this situation. First, we calculate consensus probabilities based on the information of the interaction networks. Then, sufficient conditions are obtained for all agents converging to a same value with probability one. Finally, numerical simulation results are given to verify the above results.     

State-dependent event-triggered control of multi-agent systems

Event-triggered control has been recent/y proposed as an effective strategy for the consensus of multi-agent systems. We present an improved distributed event-triggered control scheme that remedies a shortcoming of some previous event- triggered control schemes in the literature. This improved distributed event-triggered method has no need for continuously monitoring each agent＇ neighbors. Moreover, each agent in the multi-agent systems will not exhibit the Zeno behavior. Numerical simulation results show the effectiveness of the proposed consensus control.     

Consensus protocol for heterogeneous multi-agent systems: A Markov chain approach

This paper deals with the consensus problem for heterogeneous multi-agent systems. Different from most existing consensus protocols, we consider the consensus seeking of two types of agents, namely, active agents and passive agents. The objective is to directly control the active agents such that the states of all the agents would achieve consensus. In order to obtain a computational approach, we subtly introduce an appropriate Markov chain to cast the heterogeneous systems into a unified framework. Such a framework is helpful for tackling the constraints from passive agents. Furthermore, a sufficient and necessary condition is established to guarantee the consensus in heterogeneous multi-agent systems. Finally, simulation results are provided to verify the theoretical analysis and the effectiveness of the proposed protocol.     

Agreement coordination for second-order multi-agent systems with disturbances

This paper is devoted to the study of consensus problems for the second-order multi-agent systems with external disturbances, switching topology and communication time-delay. Firstly, we perform a model transformation and separate the agreement states from the disagreement states. Secondly, according to this system, we derive a sufficient condition for consensus problem without disturbances by using the Lyapunov-based approach. Furthermore, we give a design criterion in terms of bilinear matrix inequality for the control protocol in the presence of disturbances. Finally, numerical simulations are provided to show the effectiveness of our strategies.     

具有不同时延的多智能体系统一致性分析

针对有向加权且存在全局可达点的静态网络拓扑, 考虑了同时具有通信时延和输入时延的一阶、二阶智能体系统的运动一致性问题. 基于广义Nyquist准则与频域控制理论的方法, 分析并得到了网络中所有智能体渐进收敛到一致状态的充分条件. 通过该条件发现一致性的达到只与系统的耦合强度、智能体的输入时延以及各自的连接状态信息有关, 与通信时延无关. 但是, 通信时延的存在却要影响系统的动态特性. 仿真实验结果进一步验证了理论分析所得结论的正确性.     

Leader-following consensus criteria for multi-agent systems with time-varying delays and switching interconnection topologies

We consider multi-agent systems with time-varying delays and switching interconnection topologies.By constructing a suitable Lyapunov-Krasovskii functional and using the reciprocally convex approach,new delay-dependent consensus criteria for the systems are established in terms of linear matrix inequalities(LMIs),which can be easily solved by using various effective optimization algorithms.Two numerical examples are given to illustrate the effectiveness of the proposed methods.