Consensus problems in networks of agents with switching topology and time-delays
TL;DR: A distinctive feature of this work is to address consensus problems for networks with directed information flow by establishing a direct connection between the algebraic connectivity of the network and the performance of a linear consensus protocol.
read more
Abstract: In this paper, we discuss consensus problems for networks of dynamic agents with fixed and switching topologies. We analyze three cases: 1) directed networks with fixed topology; 2) directed networks with switching topology; and 3) undirected networks with communication time-delays and fixed topology. We introduce two consensus protocols for networks with and without time-delays and provide a convergence analysis in all three cases. We establish a direct connection between the algebraic connectivity (or Fiedler eigenvalue) of the network and the performance (or negotiation speed) of a linear consensus protocol. This required the generalization of the notion of algebraic connectivity of undirected graphs to digraphs. It turns out that balanced digraphs play a key role in addressing average-consensus problems. We introduce disagreement functions for convergence analysis of consensus protocols. A disagreement function is a Lyapunov function for the disagreement network dynamics. We proposed a simple disagreement function that is a common Lyapunov function for the disagreement dynamics of a directed network with switching topology. A distinctive feature of this work is to address consensus problems for networks with directed information flow. We provide analytical tools that rely on algebraic graph theory, matrix theory, and control theory. Simulations are provided that demonstrate the effectiveness of our theoretical results.
read more
Chat with Paper
AI Agents for this Paper
Find similar papers on Google Scholar, PubMed and Arxiv
Write a critical review of this paper
Analyze citations of this paper to find unaddressed research gaps
Citations
The Cooperative Output Regulation by the Distributed Observer Approach
Youfeng Su,He Cai,Jie Huang +2 more
- 22 Dec 2022
TL;DR: The Cooperative Output Regulation by the Distributed Observer Approach (CORP) is an extension of the leader-following consensus problem of multi-agent systems (MASs), and has been studied by two approaches, namely, the distributed observer (DO) approach and the distributed internal model (DIM) approach as mentioned in this paper .
Consensus of sampled-data multi-agent networking systems via model predictive control
Jingyuan Zhan,Xiang Li +1 more
TL;DR: A distributed MPC weighted-average consensus protocol for a continuous-time multi-agent network in the sampled- data setting is introduced, and it is proved such a sampled-data multi- agent system asymptotically reaches the weighted- average consensus via the distributedMPC protocol with both fixed and switching network topologies.
89
Nonlinear Sliding Mode and Distributed Control of Battery Energy Storage and Photovoltaic Systems in AC Microgrids With Communication Delays
Runfan Zhang,Branislav Hredzak +1 more
TL;DR: A distributed fixed-time multiagent control strategy for the frequency restoration, voltage regulation, state of charge balancing, and proportional reactive power sharing between photovoltaic battery systems distributed in a microgrid with communication time delays is proposed.
89
Synchronization of Discrete-Time Dynamical Networks with Time-Varying Couplings
TL;DR: In this paper, the authors study the local complete synchronization of discrete-time dynamical networks with time-varying couplings and show that the Hajnal diameter of the infinite Jacobian matrices can be used to verify synchronization.
•Journal Article
Laplacian sheep : A hybrid, stop-go policy for leader-based containment control
TL;DR: The resulting system ensures containment through the enabling result that under a Laplacian, decentralized control strategy for the followers, these followers will converge to a location in the convex leader polytope, as long as the leaders are stationary and the interaction graph is connected.
88
References
Flocks, herds and schools: A distributed behavioral model
Craig W. Reynolds
- 01 Aug 1987
TL;DR: In this article, an approach based on simulation as an alternative to scripting the paths of each bird individually is explored, with the simulated birds being the particles and the aggregate motion of the simulated flock is created by a distributed behavioral model much like that at work in a natural flock; the birds choose their own course.
•Book
Algebraic Graph Theory
Chris Godsil,Gordon F. Royle +1 more
- 01 Jan 2009
TL;DR: The Laplacian of a Graph and Cuts and Flows are compared to the Rank Polynomial.
Exploring complex networks
TL;DR: This work aims to understand how an enormous network of interacting dynamical systems — be they neurons, power stations or lasers — will behave collectively, given their individual dynamics and coupling architecture.
Coordination of groups of mobile autonomous agents using nearest neighbor rules
Ali Jadbabaie,Jie Lin,A.S. Morse +2 more
TL;DR: A theoretical explanation for the observed behavior of the Vicsek model, which proves to be a graphic example of a switched linear system which is stable, but for which there does not exist a common quadratic Lyapunov function.
Novel Type of Phase Transition in a System of Self-Driven Particles
TL;DR: Numerical evidence is presented that this model results in a kinetic phase transition from no transport to finite net transport through spontaneous symmetry breaking of the rotational symmetry.
7.7K