Related papers: Approximate Consensus Multi-Agent Control Under St…
In this paper, we address the distributed average consensus problem over directed networks in open multi-agent systems (OMAS), where the stability of the network is disrupted by frequent agent arrivals and departures, leading to a…
Consensus problem of high-order integral multi-agent systems under switching directed topology is considered in this study. Depending on whether the agent's full state is available or not, two distributed protocols are proposed to ensure…
The constrained consensus problem considered in this paper, denoted interval consensus, is characterized by the fact that each agent can impose a lower and upper bound on the achievable consensus value. Such constraints can be encoded in…
In this chapter we look at one of the canonical driving examples for multi-agent systems: average consensus. In this scenario, a group of agents seek to agree on the average of their initial states. Depending on the particular application,…
This paper presents a stochastic model predictive control approach for nonlinear systems subject to time-invariant probabilistic uncertainties in model parameters and initial conditions. The stochastic optimal control problem entails a cost…
Multi-time-scale stochastic approximation is an iterative algorithm for finding the fixed point of a set of $N$ coupled operators given their noisy samples. It has been observed that due to the coupling between the decision variables and…
In this paper, we study an optimal output consensus problem for a multi-agent network with agents in the form of multi-input multi-output minimum-phase dynamics. Optimal output consensus can be taken as an extended version of the existing…
The paper investigates consensus problem for continuous-time multi-agent systems with time-varying communication graphs subject to process noises. Borrowing the ideas from input-to-state stability (ISS) and integral input-to-state stability…
This paper analyzes consensus in multi-agent systems under uniform and nonuniform communication delays, a key challenge in distributed coordination with applications to robotic swarms. It investigates the convergence of a consensus…
We consider stationary consensus protocols for networks of dynamic agents with switching topologies. The measure of the neighbors' state is affected by Unknown But Bounded disturbances. Here the main contribution is the formulation and…
It is desirable but challenging to fulfill system constraints and reach optimal performance in consensus protocol design for practical multi-agent systems (MASs). This paper investigates the optimal consensus problem for general linear MASs…
In this paper the problem of driving the state of a network of identical agents, modeled by boundary-controlled heat equations, towards a common steady-state profile is addressed. Decentralized consensus protocols are proposed to address…
In this paper, we study the consensus problem for continuous-time and discrete-time multi-agent systems in state-dependent switching networks. In each case, we first consider the networks with fixed connectivity, in which the communication…
This paper studies the consensus problem of multi-agent systems with asymmetric and reducible topologies. Centralized event-triggered rules are provided so as to reduce the frequency of system's updating. The diffusion coupling feedbacks of…
We present distributed algorithms that can be used by multiple agents to align their estimates with a particular value over a network with time-varying connectivity. Our framework is general in that this value can represent a consensus…
In this technical note, we investigate an optimal output consensus problem for heterogeneous uncertain nonlinear multi-agent systems. The considered agents are described by high-order nonlinear dynamics subject to both static and dynamic…
This paper studies the consensus problem of general linear discrete-time multi-agent systems (MAS) with input constraints and bounded time-varying communication delays. We propose a robust distributed model predictive control (DMPC)…
In this paper, a novel two-level framework was proposed and applied to solve the output average consensus problem over heterogeneous multi-agent systems. This approach is mainly based on the recent technique of system abstraction. For given…
This paper studies linear stochastic approximation (SA) algorithms and their application to multi-agent systems in engineering and sociology. As main contribution, we provide necessary and sufficient conditions for convergence of linear SA…
This paper addresses the robust consensus problem under switching topologies. Contrary to existing methods, the proposed approach provides decentralized protocols that achieve consensus for networked multi-agent systems in a predefined…