Research on the Transformation of Control Protocols among Three Kinds of Cooperative Control for Multi-agent Systems

Int. J. Control Autom. Syst.

Andrew

et al. 2019

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Asynchronous switching differing from asynchronous consensus may hinder the system to reach a consensus. This receives very limited attention, especially when the multi-agent systems have a controller fault. In order to analyze the consensus in this situation, this paper studies the consensus of the second-order multi-agent systems under asynchronous switching with a controller fault. We convert the consensus problems under asynchronous switching into stability problems and obtain important results for consensus with the aid of linear matrix inequalities. An example is given to illustrate the effect of asynchronous switching on the consensus, and to validate the analytical results in this paper.

Section: Introductionmentioning

confidence: 99%

Consensus of the Second-order Multi-agent Systems under Asynchronous Switching with a Controller Fault

Int. J. Control Autom. Syst.

Andrew

et al. 2019

Self Cite

“…Consensus with mismatching coefficients is of practical importance. Some preliminary results on the consensus are reported in [11][12][13][14][15][16][17][18]. According to the survey [11], consensus can be reached if the undirected network digraph is strongly connected.…”

Section: Accepted Manuscriptmentioning

confidence: 99%

Consensus of multi-agent systems with faults and mismatches under switched topologies using a delta operator method

et al. 2018

Neurocomputing

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This paper studies the consensus of multi-agent systems with faults and mismatches under switched topologies using a delta operator method. Since faults and mismatches can result in failure of the consensus even for a fixed topology with a spanning tree, how to reach a consensus is a complicated and challenging problem under such circumstances especially when part topologies have no spanning tree. Although some works studied the influence of faults and mismatches on the consensus, there is little work on reaching a consensus for the multi-agent systems with faults and mismatches. In this paper, we introduce the delta operator to unify the consensus analysis for continuous, discrete, or sampled systems under one framework. We develop the theories on the delta operator systems first and then apply theories of the delta operator systems to the consensus problems. By converting the consensus problems into stability problems, we investigate and prove consensus and the associated conditions for systems 1) without any fault, 2) with a known fault, and 3) with unknown faults, under switching topologies with matching or mismatching coefficients. Numerical examples are provided and validate the effectiveness of the theoretical results.

“…The main target of cooperation is to reach a global goal with limited exchange of information among adjacent agents following a local control protocol [2]. There have been strong research interests in the last decade on coordination [3]- [10].…”

Section: Introductionmentioning

confidence: 99%

Consensus of Second-Order Multi-Agent Systems Without a Spanning Tree: A Sequence-Based Topology-Dependent Method

et al. 2020

IEEE Access

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This paper investigates the consensus of second-order multi-agent systems under switched topologies. Previous studies indicate that a consensus cannot be reached if the topology is fixed and has no spanning tree, but it is possible to reach a consensus for the multi-agent systems under switched topologies even if every topology has no spanning tree. However, in this paper, we show that some second-order multi-agent systems cannot reach a consensus even if the union of the directed interaction graphs has a spanning tree, and even if the union has a spanning tree frequently enough. It is often complex to judge whether the second-order multi-agent systems can reach a consensus or not under switched topologies if every topology has no spanning tree. This paper proposes a sequence-based topology-dependent method to determine whether a consensus can be reached in this circumstance. Our results are supported by examples and counterexamples. INDEX TERMS consensus, multi-agent systems, spanning tree, switched topologies