Consensus of second-order discrete-time multi-agent systems with fixed topology

This paper studies the consensus of second-order discrete-time multi-agent systems with fixed topology. First, we formulate the problem and give some preliminaries. Then, by algebraic graph theory and matrix theory, the convergence of system matrix is analyzed. Our main results indicate that the consensus of second-order system can be achieved if and only if the topology graph has a directed spanning tree and the values of the scaling parameters satisfy a range. The eigenvalues of the corresponding Laplacian matrix play a key role in reaching consensus. Finally, numerical simulations are given to illustrate the results.     

Cooperative Sensing and Distributed Control of a Diffusion Process Using Centroidal Voronoi Tessellations

<正>This paper considers how to use a group of robots to sense and control a diffusion process.The diffusion process is modeled by a partial differential equation (PDE),which is a both spatially and temporally variant system.The robots can serve as mobile sensors,actuators,or both.Centroidal Voronoi Tessellations based coverage control algorithm is proposed for the cooperative sensing task.For the diffusion control problem,this paper considers spraying control via a group of networked mobile robots equipped with chemical neutralizers,known as smart mobile sprayers or actuators,in a domain of interest having static mesh sensor network for concentration sensing.This paper also introduces the information sharing and consensus strategy when using centroidal Voronoi tessellations algorithm to control a diffusion process.The information is shared not only on where to spray but also on how much to spray among the mobile actuators.Benefits from using CVT and information consensus seeking for sensing and control of a diffusion process are demonstrated in simulation results.     

非平衡拓扑和随机干扰情形下多自主体系统的趋同条件

研究了具有一般有向通信拓扑和高斯通信噪声的多自主体系统的趋同条件.这里所研究的有向拓扑不仅包含有向平衡图,而且包含非平衡图,后者是本文的重点.我们利用马氏链的结果得到了一个网络节点的互通类;通过对噪声影响的细化,给出了不同噪声情形下系统趋同条件:(1)对互通类的自主体获取信息受到噪声干扰情形,给出了系统均方趋同的充要条件,并证明该条件也保证以概率1 趋同;(2)对互通类的自主体获取信息未受到噪声干扰但其余自主体获取信息受到干扰情形,给出了系统均方趋同的充分条件,并证明该条件在一定意义下也是必要的;(3)对整个系统无噪声情形,给出了系统趋同的充要条件.     

Impulsive control for one-side Lipschitz nonlinear MASs under semi-Markovian switching topologies with partially unknown transition probabilities

This article addresses the consensus problem of impulsive control for the multi-agent systems under uncertain semi-Markovian switching topologies. Considering the control and information exchanging cost in the implementation of multi-agent systems, an impulsive control protocol is developed not only to relieve the network burden but address the consensus problem. In addition, globally Lipschitz condition, as required in many existing literatures, is not needed in this article, so we introduce one-side Lipschitz condition to loosen the constraint of Lipschitz constant and widen the range of nonlinear application. According to cumulative distribution functions and Lyapunov functional, sufficient criteria are derived for the mean square consensus of multi-agent systems. It is shown that the impulsive sequence is not only inconsistent with switching sequence but also mode-dependent. Finally, simulation results are given to validate the superiority of the theoretical results.     

Practical scaled consensus for nonlinear multiagent systems with input time delay via a new distributed integral-type event-triggered scheme

This paper studies scaled-based practical consensus issue for multiagent systems with input time delay by a fully continuous communication-free integral-type event-triggered scheme. By choosing the proper scales, scaled consensus can be induced to synchronization, bipartite consensus or cluster consensus. By defining a continuous communication-free measurement error for the integral-type event-triggered mechanism, the new integral-type event-triggered condition is proposed which can not only reduce the energy consumption but also prolong the interevent time. Then, with time domain analysis method, the distributed integral-type event-triggered control problem for nonlinear general multiagent systems involving input time delay is investigated and then the second-order counterpart, with a calculated upper-bound for time-delay. Moreover, it is concluded that with such event-triggered protocols, practical scaled consensus can be achieved without the exhibition of Zeno behavior. At last, simulations are shown to support the results.     

Mining maximum consensus sequences from group ranking data

In the last decade, the problem of getting a consensus group ranking from all users’ ranking data has received increased attention due to its widespread applications. Previous research solved this problem by consolidating the opinions of all users, thereby obtaining an ordering list of all items that represent the achieved consensus. The weakness of this approach, however, is that it always produces a ranking list of all items, regardless of how many conflicts exist among users. This work rejects the forced agreement of all items. Instead, we define a new concept, maximum consensus sequences, which are the longest ranking lists of items that agree with the majority and disagree only with the minority. Based on this concept, algorithm MCS is developed to determine the maximum consensus sequences from users’ ranking data, and also to identify conflict items that need further negotiation. Extensive experiments are carried out using synthetic data sets, and the results indicate that the proposed method is computationally efficient. Finally, we discuss how the identified consensus sequences and conflict items information can be used in practice.     

偶匹配可扩性的极图问题

设G是含有完美匹配的简单图. 称图G是偶匹配可扩的(BM-可扩的), 如果G的每一个导出子图是偶图的匹配M都可以扩充为一个完美匹配. 极图问题是图论的核心问题之一. 本文将刻画极大偶匹配不可扩图, 偶图图类和完全多部图图类中的极大偶匹配可扩图.     

Impulsive consensus of one-sided Lipschitz nonlinear multi-agent systems with Semi-Markov switching topologies

Many real systems involve not only parameter changes but also sudden variations in environmental conditions, which often causes unpredictable topologies switching. This paper investigates the impulsive consensus problem of the one-sided Lipschitz nonlinear multi-agent systems (MASs) with Semi-Markov switching topologies. Different from the existing modeling methods of the Markov chain, the Semi-Markov chain is adopted to describe this kind of randomly occurring changes reasonably. To cope with the communication and control cost constraints in the multi-agent systems, the distributed impulsive control method is applied to address the leader–follower consensus problem. Beyond that, to obtain a wider nonlinear application range, the one-sided condition is delicately developed to the controller design, and the results are different from the ones obtained in the traditional method with the Lipschitz condition (note that the existing results are usually only applicable to the case with small Lipschitz constant). Based on the characteristics of cumulative distribution functions, the theory of Lyapunov-like function and impulsive differential equation, the asymptotically mean square consensus of multi-agent systems is maintained with the proposed impulsive control protocol. Finally, an explanatory simulation is presented to validate the correctness of the proposed approach conclusively.     

Distributed impulsive control consensus for a class of unknown nonlinear multi-agent systems based on event-triggered scheme

In this study, we are concerned with the impulsive consensus control problem for a class of nonlinear multi-agent systems (MASs) which have unknown dynamics and directed communication topology. The neural networks (NNs) method is the first utilized to construct distributed event-triggered impulsive consensus protocol. In contrast to the existing impulsive consensus protocol, the consensus protocol proposed in this paper does not need the dynamics of agents, which enhances the system robustness, and realizes distributed event-triggered communication between agents, which can reduce unnecessary consumption of communication resources. Sufficient conditions are derived to ensure the consensus of the controlled MASs and the exclusion of Zeno-behavior. Finally, simulation examples are presented to illustrate the effectiveness of the proposed control protocol.     

Clustering and asymptotic behavior in opinion formation

We investigate the long time behavior of models of opinion formation. We consider the case of compactly supported interactions between agents which are also non-symmetric, including for instance the so-called Krause model. Because of the finite range of interaction, convergence to a unique consensus is not expected in general. We are nevertheless able to prove the convergence to a final equilibrium state composed of possibly several local consensus. This result had so far only been conjectured through numerical evidence. Because of the non-symmetry in the model, the analysis is delicate and is performed in two steps: First using entropy estimates to prove the formation of stable clusters and then studying the evolution in each cluster. We study both discrete and continuous in time models and give rates of convergence when those are available.     

Sampled-data distributed protocol for coordinated aggregation of multi-agent systems subject to communication delays

This paper studies the coordinated aggregation problem of a multi-agent system. Particularly, all the agents reach a consensus within a pre-specified target region. However, only a subset of agents have access to this target region, and each agent merely interacts with its neighbors by communication. Moreover, there exist unknown heterogeneous delays in communication channels. The underlying communication topology is characterized by a digraph. To accommodate the practical digital disposal, a sampled-data distributed protocol is proposed, where the sampling is asynchronous in the sense that the sampling periods of distinct agents are heterogeneous. The resulting closed-loop system from the proposed sampled-data distributed protocol is in a hybrid fashion that the continuous system is fed-back by using discrete states at sampling instants. The convergence performance of this hybrid closed-loop system is analyzed based on the contraction theory. More specifically, it is first shown that all the states are coordinated to aggregate within the target region, i.e., coordinated aggregation. With this result, it is next shown that all the states are coordinated towards a consensus, i.e., state agreement. These together guarantee the fulfillment of the concerned coordinated aggregation objective. Finally, a simulation example is given to validate the theoretical results.     

具有部分状态信息的二阶多智能体系统的一致性

研究二阶连续多智能体系统的一致性问题,其中每个智能体只能在一系列离散时刻上获得位置信息.为了关于完全状态,即位置和速度,都达到一致,设计一类协议,并建立在该协议下,一致性成立的充要条件.该条件揭示了交流拓扑、控制器增益、采样周期和保持器的更新周期之间的关系.仿真例子表明理论结果是有效的.     

New differentiated consensus problem with topology cost constraints

A new differentiated consensus problem is studied. The problem is, given a system with multiple classes, consensus is targeted for each class and the consensus values can be different among the classes. Specifically, differentiated consensus is studied in a distributed stochastic network of nodes (or agents), where tasks assigned with different priorities are serviced. The network is assumed to have a switching topology and involves noises, delays in measurements, and topology cost constraints. The goal is to reach a balanced load (i.e., consensus) across the network and, at the same time, to satisfy the topology cost constraint, both for each priority class. A new control protocol is proposed, with which the network resources are allocated in a randomized way with a probability assigned to each priority class. It is shown that the control protocol meets the topology cost constraint and can be used to reach an approximate consensus for each of the priority classes in the network.     

Consensus problems in discrete-time multiagent systems with fixed topology

In this paper, we study the consensus problems in discrete-time multiagent systems with fixed topology. A necessary and sufficient condition for a system that solves a consensus problem is established, and the structure of consensus functions is characterized. Based on them, we introduce the standard topologies (graphs) of information flow, with which the systems can be viewed as single-leader-multi-follower systems. Moreover, the convex combination of these topologies can create a system that solves any predeterminate consensus problem. Additionally, we characterize the structural decomposition—the leaders-followers decomposition of a multiagent system, and establish a necessary and sufficient condition for an agent to be a leader.     

Distance-based and ad hoc consensus models in ordinal preference ranking

This paper examines the problem of aggregating ordinal preferences on a set of alternatives into a consensus. This problem has been the subject of study for more than two centuries and many procedures have been developed to create a compromise or consensus.We examine a variety of structures for preference specification, and in each case review the related models for deriving a consensus. Two classes of consensus models are discussed, namely ad hoc methods, evolving primarily from parliamentary settings over the past 200 years, and distance or axiomatic-based methods. We demonstrate the levels of complexity of the various distance-based models by presenting the related mathematical programming formulations for them. We also present conditions for equivalence, that is, for yielding the same consensus ranking for some of the methods. Finally, we discuss various extensions of the basic ordinal ranking structures, paying specific attention to partial ranking, voting member weighted consensus, ranking with intensity of preference, and rank correlation methods, as alternative approaches to deriving a consensus. Suggestions for future research directions are given.     

The OWA-based consensus operator under linguistic representation models using position indexes

When using linguistic approaches to solve decision problems, we need linguistic representation models. The symbolic model, the 2-tuple fuzzy linguistic representation model and the continuous linguistic model are three existing linguistic representation models based on position indexes. Together with these three linguistic models, the corresponding ordered weighted averaging operators, such as the linguistic ordered weighted averaging operator, the 2-tuple ordered weighted averaging operator and the extended ordered weighted averaging operator, have been developed, respectively. In this paper, we analyze the internal relationship among these operators, and propose a consensus operator under the continuous linguistic model (or the 2-tuple fuzzy linguistic representation model). The proposed consensus operator is based on the use of the ordered weighted averaging operator and the deviation measures. Some desired properties of the consensus operator are also presented. In particular, the consensus operator provides an alternative consensus model for group decision making. This consensus model preserves the original preference information given by the decision makers as much as possible, and supports consensus process automatically, without moderator.     

Impulsive consensus problem of second-order multi-agent systems with switching topologies

The paper proposes an impulsive consensus protocol to solve the consensus problem of the second-order multi-agent systems with fixed and switching topologies. Some sufficient conditions are obtained for the states of follower agents converging to the state of leader asymptotically. Two numerical simulations are also given to verify the effectiveness of the theoretical analysis.     

多属性群决策算法及一致性分析研究

在多属性群决策中 ,集结群体意见之前必须先对群体的决策数据进行一致性分析 ,以确保群体作出的决策符合客观实际 .提出了群决策的三种三维层次模型 ;用欧几里得距离 ( Euclidean Distance)表示个人决策中方案的评价值 ;然后设置一致性指标值α,作为群体数据一致性的判断依据 ;提出了满足一致性基础上的一种群决策方法 ;最后用实例说明了算法的使用步骤 .     

Tracking consensus of nonlinear MASs with asymmetric communication delays in noisy environments

This paper investigates the tracking consensus problem of nonlinear multi-agent systems (MASs) with asymmetric time-varying communication delays in noisy environments under the conditions of fixed and switching directed topologies. A novel stochastic analysis approach is proposed, which guarantees that the designed two distributed tracking protocols can guide the controlled systems to achieve tracking consensus in the sense of mean square. In order to further reveal the influence of asymmetric communication delays on the tracking consensus ability for MASs, some new delay-dependent sufficient conditions for mean-square consensus are also developed. A simple example is finally given to illustrate the effectiveness of the proposed theoretical results.