Related papers: Consensus with Output Saturations
We introduce the problem of asymptotic subspace consensus, which requires the outputs of processes to converge onto a common subspace while remaining inside the convex hull of initial vectors.This is a relaxation of asymptotic consensus in…
We consider a consensus algorithm in which every node in a sequence of undirected, B-connected graphs assigns equal weight to each of its neighbors. Under the assumption that the degree of each node is fixed (except for times when the node…
This paper concerns the consensus of discrete-time multi-agent systems with linear or linearized dynamics. An observer-type protocol based on the relative outputs of neighboring agents is proposed. The consensus of such a multi-agent system…
This paper studies deterministic consensus networks with discrete-time dynamics under persistent flows and non-reciprocal agent interactions. An arc describing the interaction strength between two agents is said to be persistent if its…
We study the convergence speed of distributed iterative algorithms for the consensus and averaging problems, with emphasis on the latter. We first consider the case of a fixed communication topology. We show that a simple adaptation of a…
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…
Distributed consensus with data rate constraint is an important research topic of multi-agent systems. Some results have been obtained for consensus of multi-agent systems with integrator dynamics, but it remains challenging for general…
When networked systems of autonomous agents carry out complex tasks, the control and coordination sought after generally depend on a few fundamental control primitives. Chief among these primitives is consensus, where agents are to converge…
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…
Average consensus (AC) strategies play a key role in every system that employs cooperation by means of distributed computations. To promote consensus, an $N$-agent network can repeatedly combine certain node estimates until their mean value…
The present paper is devoted to estimating the speed of convergence towards consensus for a general class of discrete-time multi-agent systems. In the systems considered here, both the topology of the interconnection graph and the weight of…
Classical approaches for asymptotic convergence to the global average in a distributed fashion typically assume timely and reliable exchange of information between neighboring components of a given multi-component system. These assumptions…
For networked systems, Persistent Excitation and Integral Scrambling Condition are conditions ensuring that communication failures between agents can occur, but a minimal level of service is ensured. We consider cooperative multi-agent…
The leader-following consensus problem for general linear multi-agent systems over jointly connected switching networks has been a challenging problem and the solvability of the problem has been limited to the class of linear multi-agent…
We consider continuous-time consensus seeking systems whose time-dependent interactions are cut-balanced, in the following sense: if a group of agents influences the remaining ones, the former group is also influenced by the remaining ones…
We describe a protocol for the average consensus problem on any fixed undirected graph whose convergence time scales linearly in the total number nodes $n$. The protocol is completely distributed, with the exception of requiring all nodes…
Results for estimating the convergence rate of non-stationary distributed consensus algorithms are provided, on the basis of qualitative (mainly topological) as well as basic quantitative information (lower-bounds on the matrix entries).…
The paper studies the problem of achieving consensus in multi-agent systems in the case where the dependency digraph $\Gamma$ has no spanning in-tree. We consider the regularization protocol that amounts to the addition of a dummy agent…
In this paper, we formulate and investigate a generalized consensus algorithm which makes an attempt to unify distributed averaging and maximizing algorithms considered in the literature. Each node iteratively updates its state as a…
The paper addresses the problem of consensus seeking among second-order linear agents interconnected in a specific ring topology. Unlike the existing results in the field dealing with one-directional digraphs arising in various cyclic…