Related papers: A Consensus Protocol under Directed Communications…
We consider a networked control system (NCS) consisting of two plants, a global plant and a local plant, and two controllers, a global controller and a local controller. The global (resp. local) plant follows discrete-time stochastically…
This paper deals with adaptive synchronization of chaos in the presence of time-varying communication-delays. We consider two bidirectionally coupled systems that seek to synchronize through a signal that each system sends to the other one…
This paper regards coordination of networked systems, which is studied in the framework of hybrid dynamical systems. We design a coordination scheme which combines the use of ternary controllers with a self-triggered communication policy.…
Active agents with time-delayed interactions arise naturally in various real-world systems, such as biological systems, transportation networks and robotic swarms. Such systems are typically modeled as Delay Differential Equations (DDEs)…
Distributed averaging of agent initial conditions is a well-studied problem in context of networked systems where coordination amongst the agents is of paramount importance. The asymptotic nature of convergence of distributed averaging…
The aim of this paper is to analyze a class of consensus algorithms with finite-time or fixed-time convergence for dynamic networks formed by agents with first-order dynamics. In particular, in the analyzed class a single evaluation of a…
This work studies two types of computer networking models. The primary focus is to understand the different dynamical phenomena observed in practice due to the presence of severe nonlinearities, delays and widely varying operating…
Consensus planning is a method for coordinating decision making across complex systems and organizations, including complex supply chain optimization pipelines. It arises when large interdependent distributed agents (systems) share common…
The novel idea presented in this paper is to interweave distributed model predictive control with a reliable scheduling of the information that is interchanged between local controllers of the plant subsystems. To this end, a dynamic model…
The aim of this paper is to provide a systematic overview of results on asymptotic consensus for the Hegselmann-Krause-type model with delay and discuss the corresponding analytical tools. We explain that two types (sources) of delay -…
This paper proposes two algorithms, namely "back-tracking" and "history following", to reach consensus in case of communication loss for a network of distributed agents with switching topologies. To reach consensus in distributed control,…
In this paper we introduce a Leader-follower consensus protocol and study its stability properties with and without communication delays. On the practical side, we explore its application on coordinating a group of wind Double-Fed Induction…
We present two new consensus algorithms for dynamic networks. The first, Fast Raft, is a variation on the Raft consensus algorithm that reduces the number of message rounds in typical operation. Fast Raft is ideal for fast-paced distributed…
In this paper, we investigate the architecture of an optimal controller that maximizes the convergence speed of a consensus protocol with single-integrator dynamics. Under the assumption that communication delays increase with the number of…
Control and communication are often tightly coupled in motion planning of networked mobile robots, due to the fact that robotic motions will affect the overall communication quality, and the quality of service (QoS) of the communication…
This article aims to improve the performance of networked multi-agent systems, which are common representations of cyber-physical systems. The rate of convergence to consensus of multi-agent networks is critical to ensure cohesive, rapid…
Designing distributed, fast and reliable wireless consensus protocols is instrumental in enabling mission-critical decentralized systems, such as robotic networks in the industrial Internet of Things (IIoT), drone swarms in rescue missions,…
The event-triggered consensus problem of first-order multi-agent systems under directed topology is investigated. The event judgements are only implemented at periodic time instants. Under the designed consensus algorithm, the sampling…
In this paper, we study the discrete-time consensus problem over networks with antagonistic and cooperative interactions. Following the work by Altafini [IEEE Trans. Automatic Control, 58 (2013), pp. 935--946], by an antagonistic…
In this note, we discuss the problem of consensus finding in communication networks of agents with dynamically switching topologies. In particular, we consider the case of directed networks with unbalanced matrices of communication rates.…