Consensus Control for Networks of Dynamic Agents via Active Switching Topology

Abstract

Abstract. This paper investigates the average-consensus problem for networks of dynamic agents. A consensus protocol based on active switching topology for solving the average-consensus problem of the network is proposed. Within such a topology, a finite set of candidate unconnected graphs is used and we change the topology actively according to the state of the network. The advantage of such mechanism is that it decreases the communication complexity/cost dramatically. The simulation results are presented that are consistent with our theoretical results.

Time Coordination of Multiple UAVs over Switching Communication Networks with Digraph Topologies

“…where the second equality is from (12); the first inequality is from (17), and σ(t) = σ(t k ) for t ∈ [t k , t k+1 ); the second inequality is from µ = min i∈{1,...,m} µ i . Application of the comparison lemma (Lemma 3.4 in [25]) yields…”

“…Recent studies show that strategic switching of the network topology plays an important role in solving control problems of networked multi-agent systems. For example, [17] presents a centralized topology switching algorithm to achieve consensus for the first-order multi-agent systems. Active topology switching algorithms proposed in [18], [19] achieve consensus for the second-order multi-agent systems.…”

Load balancing over heterogeneous networks with gossip-based algorithms

“…The study of consensus networks has recently stirred much interest in the control community with a particular focus on the deep connection between consensus and algebraic graph theory [9], [14], [15], [17], [20], [23], [24], [25], [26].…”

Aggregation and Pattern Formation of Multi-Agent Systems

“…Multiple mobile autonomous agents coupled with each other through interactions can generate certain ordered behaviors, such as aggregation, cohesion, alignment, and rotation. So far, several models have been presented to investigate these self-organized behavior [6][7][8][9][10][11][12][13][14][15][16][17][18][19][20][21][22][23][24][25] . Some of the models make use of the assumption that the interaction among the individual agents has a long-range attractive and short-range repulsive nature.…”