Minimum-Energy Distributed Consensus of Uncertain Agents
Abstract
This paper presents a consensus algorithm for a multi-agent system where each agent has access to its imperfect own state and neighboring state measurements. The measurements are subject to deterministic disturbances and the proposed algorithm provides a minimum-energy estimate of the measured states which is instrumental in achieving consensus by the nodes. It is shown that the proposed consensus algorithm converges exponentially in the absence of disturbances, and its performance under bounded continuous disturbances is investigated as well. The convergence performance of the proposed method is further studied using simulations where we show that consensus is achieved despite using large measurement errors.
Cite
@article{arxiv.1409.5515,
title = {Minimum-Energy Distributed Consensus of Uncertain Agents},
author = {Mohammad Zamani and Iman Shames and Valery Ugrinovskii},
journal= {arXiv preprint arXiv:1409.5515},
year = {2014}
}
Comments
The paper is accepted for presentation at the 53rd IEEE Conference on Decision and Control (IEEE CDC)