Related papers: Almost global consensus on the n-sphere
This article investigates the consensus tracking problem of multi-agent systems under jointly connected topology through automated synthesis of Lyapunov functions. Based on the proposed distributed nonlinear control protocol, several…
We study the popular distributed consensus method over networks composed of a number of densely connected clusters with a sparse connection between them. In these cluster networks, the method often constitutes two-time-scale dynamics, where…
A novel distributed control law for consensus of networked double integrator systems with biased measurements is developed in this article. The agents measure relative positions over a time-varying, undirected graph with an unknown and…
This paper presents the design and analysis of the finite/fixed-time scaled consensus for multiagent systems. A study on a generic attracting law, the certain classes of nonlinear systems that admit attractors with finite/fixed-time…
This article presents a new technique for suboptimal consensus protocol design for a class of multiagent systems. The technique is based upon the extension of newly developed sufficient conditions for suboptimal linear-quadratic optimal…
This paper considers solving distributed optimization problems in peer-to-peer multi-agent networks. The network is synchronous and connected. By using the proportional-integral (PI) control strategy, various algorithms with fixed stepsize…
This work investigates the consensus problem for multi-agent nonlinear systems through the distributed real-time nonlinear receding horizon control methodology. With this work, we develop a scheme to reach the consensus for nonlinear multi…
In this paper, we propose several consensus protocols of the first and second order for networked multi-agent systems and provide explicit representations for their asymptotic states. These representations involve the eigenprojection of the…
In this work, we give sufficient conditions for the almost global asymptotic stability of a cascade in which the subsystems are only almost globally asymptotically stable. The result is extended to upper triangular systems of arbitrary…
This paper investigates the consensus problem for nonlinear heterogeneous multi-agent systems with limited communication data rate. Each agent is modeled by a higher-order strict-feedback continuous-time system with unknown nonlinearities…
Motivated by widespread dominance hierarchy, growth of group sizes, and feedback mechanisms in social species, we are devoted to exploring the scalable second-order consensus of hierarchical groups. More specifically, a hierarchical group…
We consider the problem of achieving average consensus in the minimum number of linear iterations on a fixed, undirected graph. We are motivated by the task of deriving lower bounds for consensus protocols and by the so-called "definitive…
This paper addresses the distributed consensus protocol design problem for linear multi-agent systems with directed graphs and external unmatched disturbances. A novel distributed adaptive consensus protocol is proposed to achieve…
This work aims to address the design of fully distributed control protocols for stochastic consensus, and, for the first time, establishes the existence and uniqueness of solutions for the path-dependent and highly nonlinear closed-loop…
Consensus of autonomous agents is a benchmark problem in cooperative control. In this paper, we consider standard continuous-time averaging consensus policies (or Laplacian flows) over time-varying graphs and focus on robustness of…
This paper studies consensus problems for multi-agent systems defined on directed graphs where the consensus dynamics involves nonlinear and discontinuous functions. Sufficient conditions, involving the nonlinear functions and the topology…
This paper investigates the consensus problem of general linear multi-agent systems under the framework of optimization. A novel distributed receding horizon control (RHC) strategy for consensus is proposed. We show that the consensus…
In this work we prove convergence results of sequences of Riemannian $4$-manifolds with almost vanishing $L^2$-norm of a curvature tensor and a non-collapsing bound on the volume of small balls. In Theorem 1.1, we consider a sequence of…
Representation of a swarm of independent robotic agents under graph-theoretic constructs allows for more formal analysis of convergence properties. We consider the local and global convergence behavior of an N-member swarm of agents in a…
Gradient descent methods are fundamental first-order optimization algorithms in both Euclidean spaces and Riemannian manifolds. However, the exact gradient is not readily available in many scenarios. This paper proposes a novel inexact…