Related papers: Consensus with Output Saturations
In this paper, we consider the problem of containment control of multi-agent systems with multiple stationary leaders, interacting over a directed network. While, containment control refers to just ensuring that the follower agents reach…
It is known that polynomial filtering can accelerate the convergence towards average consensus on an undirected network. In this paper the gain of a second-order filtering is investigated. A set of graphs is determined for which consensus…
The problem of consensus in the presence of misbehaving agents has increasingly attracted attention in the literature. Prior results have established algorithms and graph structures for multi-agent networks which guarantee the consensus of…
This work addresses the output consensus problem of constrained heterogeneous multi-agent systems under a switching network with potential communication delays, where outputs are periodic and characterized by an exosystem. Since periodic…
This paper studies an optimal consensus problem for a group of heterogeneous high-order agents with unknown control directions. Compared with existing consensus results, the consensus point is further required to an optimal solution to some…
Distributed quantized weight-balancing and average consensus over fixed digraphs are considered. A digraph with non-negative weights associated to its edges is weight-balanced if, for each node, the sum of the weights of its out-going edges…
This article investigates discrete-time matrix-weighted consensus of multi-agent networks over undirected and connected graphs. We first present consensus protocols for the agents in common networks of symmetric matrix weights with possibly…
This paper presents the formulation of fault detection and accommodation schemes for a network of autonomous agents running internal model-based dynamic average consensus algorithms. We focus on two types of consensus algorithms, one that…
Are (set)-consensus objects necessary? This paper answer is negative. We show that the availability of consensus objects can be replaced by restricting the set of runs we consider. In particular we concentrate of the set of runs of the…
Solving optimization problems in multi-agent systems (MAS) involves information exchange between agents. These solutions must be robust to delays and errors that arise from an unreliable wireless network which typically connects the MAS. In…
Multi-agent coordination algorithms with randomized interactions have seen use in a variety of settings in the multi-agent systems literature. In some cases, these algorithms can be random by design, as in a gossip-like algorithm, and in…
Populations of mobile and communicating agents describe a vast array of technological and natural systems, ranging from sensor networks to animal groups. Here, we investigate how a group-level agreement may emerge in the continuously…
Linear consensus iterations guarantee asymptotic convergence, thereby, limiting their applicability in applications where consensus value needs to be used in real time to perform a system level task. It also leads to wastage of power and…
We study distributed computation in synchronous dynamic networks where an omniscient adversary controls the unidirectional communication links. Its behavior is modeled as a sequence of directed graphs representing the active (i.e. timely)…
In this work, we consider the problem of coordinating a collection of $n$th-order integrator systems. The coordination is achieved through the novel serial-consensus design, which can be seen as a method for achieving a stable closed-loop…
In this paper, we consider a leader-following consensus problem for networks of continuous-time integrator agents with a time-varying leader under measurement noises. We propose a neighbor-based state-estimation protocol for every agent to…
This paper addresses the distributed consensus problem for a linear multi-agent system with switching directed communication topologies. By appropriately introducing a linear transformation, the consensus problem is equivalently converted…
Our goal is to find a necessary and sufficient condition on the consensus over a random network, generated by i.i.d. stochastic matrices. We show that the consensus problem in three different convergence modes (almost surely, in…
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…
This paper is concerned with the study of synchronization and consensus phenomena in complex networks of diffusively-coupled nodes subject to external disturbances. Specifically, we make use of stochastic Lyapunov functions to provide…