A consensus-based distributed method of clock synchronization for sensor networks

Abstract

In this study, an innovative distributed method for achieving external clock synchronization is presented. Based on discrete-time clock models, it can realize synchronization of clocks while enabling their time to change at the same pace simultaneously. Stronger robustness against noisy measurements and clock rate drifts is gained by combining both controller and estimator design methods into the protocol. Additionally, a specifically designed communication scheme is proposed to make our protocols independent on global physical time. To render our protocols more practical, the control variable for clock synchronization is ensured bounded and a stopping criterion for implementation of the protocols is established. Finally, performance of the method is illustrated by certain numerical simulations.

A distributed control framework and delay-dependent stability analysis for large-scale networked control systems with non-ideal communication network

“…In this respect, several firmly implemented synchronization approaches and real-time clocks are accomplished (e.g. Boyle et al, 2017; Li et al, 2010; Qiao et al, 2017; Wang et al, 2017).…”

Switching formation strategy with the directed dynamic topology for collision avoidance of a multi‐robot system in uncertain environments

“…Cooperative control for multi‐robot systems, including synchronisation and consensus [1, 2], swarming and flocking [3, 4], region‐following formation control [5, 6], has attracted considerable research attention, with many works in science and engineering. The research interest has mainly arisen from the fact that networked systems under cooperative control can perform complex tasks more effectively than a group of individually operating robots, especially in surveillance, target tracking, self‐localisation and mapping, and disaster response.…”