On the Consensus of Homogeneous Multiagent Systems With Positivity Constraints

Valcher, Maria Elena; Zorzan, Irene

doi:10.1109/tac.2017.2691305

Cited by 46 publications

(16 citation statements)

References 38 publications

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“…Consensus control approaches as a class of fundamental methods for mobile sensor networks have also been well studied [ 6 , 7 , 13 , 14 ]. In the face of some applications that require a fast convergence rate and high control accuracy [ 15 , 16 , 17 ], how to establish exponential convergence consensus approaches with finite settling times is necessary and has resulted in the appearance of finite-time consensus approaches.…”

Section: Related Workmentioning

confidence: 99%

Event-Based Communication and Finite-Time Consensus Control of Mobile Sensor Networks for Environmental Monitoring

2018

Sensors

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This paper deals with the problem of environmental monitoring by designing a cooperative control scheme for mobile sensor networks. The proposed cooperative control scheme includes three main modules: a wireless communication module, a direction decision module, and a motion control module. In the wireless communication module, an event-based communication rule is proposed, which means that mobile sensor nodes do not send their positions, velocities, and the data of environmental attributes to the other sensor nodes in real-time for the coordination and control of mobile sensor networks. Due to using the event-based communication rule, the communication bandwidth can be saved. In the direction decision module, a radial basis function network is used to model the monitored environment and is updated in terms of the sampled environmental data and the environmental data from the other sensor nodes by the wireless communication module. The updated environment model is used to guide the mobile sensor network to move towards the region of interest in order to efficiently model the distribution map of environmental attributes, such as temperature, salinity, and pH values for the monitored environment. In the motion control module, a finite-time consensus control approach is proposed to enable the sensor nodes to quickly change their movement directions in light of the gradient information from the environment model. As a result of using the event-based communication rule in the wireless communication module, the proposed control approach can also lower the updating times of the control signal. In particular, the proposed cooperative control scheme is still efficient under the directed wireless communication situation. Finally, the effectiveness of the proposed cooperative control scheme is illustrated for the problem of environmental monitoring.

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Section: Related Workmentioning

confidence: 99%

Event-Based Communication and Finite-Time Consensus Control of Mobile Sensor Networks for Environmental Monitoring

2018

Sensors

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“…20 In the meanwhile, positivity constraints have been introduced into the consensus problem of multi-agent networks. For example, Valcher and Zorzan 21,22 derive necessary conditions on the problem solvability and special sufficient conditions of the homogeneous positive multi-agent systems under the irreducibility assumption. In the work of Liu et al, 23 some necessary and/or sufficient conditions have been presented for the consensusability analysis of positive multiagent systems under the frameworks of matrix inequality and linear programming.…”

Section: Introductionmentioning

confidence: 99%

On the positive stabilizability of sampled positive systems

Guo

Zhang

Chen

et al. 2021

Intl J Robust & Nonlinear

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This paper investigates the problem of positive stabilizability of single-input LTI positive systems. Firstly, for a single-input continuous-time positive linear system, it has been derived that a necessary condition of the existence of a stablilizing linear time-invariant controller is the number of nonnegative real poles not being greater than one. Inspired by that, the continuous-time positive stabilizability of systems with unstable complex poles is studied in this paper, where the third-order and higher-order cases are considered. Secondly, an enhanced method to construct the static state-feedback gain of a sampled positive system is presented, which takes account of the positivity preservation in the sampling interval. According to the method, the positive stabilizablity of the single-input second-order sampled positive system is analyzed. Some numerical examples are finally presented to illustrate the theoretical results.

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“…In [2], Lu used a radial basis function network to model the search environment and guided the robots to move toward the signal source based on gradient information provided by the environment model. Correspondingly, some cooperative control approaches [2,3] have been developed in terms of consensus control theory [23][24][25][26]. Moreover, the idea of cooperative control is further extended to deal with the management of crisis situations [27].…”

Section: Introductionmentioning

confidence: 99%

Signal Source Localization of Multiple Robots Using an Event-Triggered Communication Scheme

Pan

Yin

et al. 2018

Applied Sciences

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This paper deals with the problem of signal source localization using a group of autonomous robots by designing and analyzing a decision-control approach with an event-triggered communication scheme. The proposed decision-control approach includes two levels: a decision level and a control level. In the decision level, a particle filter is used to estimate the possible positions of the signal source. The estimated position of the signal source gradually approaches the real position of signal source with the movement of robots. In the control level, a consensus controller is proposed to control multiple robots to seek a signal source based on the estimated signal source position. At the same time, an event-triggered communication scheme is designed such that the burden of communication can be lightened. Finally, simulation and experimental results show the effectiveness of the proposed decision-control approach with the event-triggered communication scheme for the problem of signal source localization.

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On the Consensus of Homogeneous Multiagent Systems With Positivity Constraints

Cited by 46 publications

References 38 publications

Event-Based Communication and Finite-Time Consensus Control of Mobile Sensor Networks for Environmental Monitoring

Event-Based Communication and Finite-Time Consensus Control of Mobile Sensor Networks for Environmental Monitoring

On the positive stabilizability of sampled positive systems

Signal Source Localization of Multiple Robots Using an Event-Triggered Communication Scheme

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