Related papers: Robust Consensus for Multi-Agent Systems Communica…
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 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,…
We consider a multi-agent system where agents aim to achieve a consensus despite interactions with malicious agents that communicate misleading information. Physical channels supporting communication in cyberphysical systems offer…
The guaranteed-performance consensualization for high-order linear and nonlinear multiagent systems with switching topologies is respectively realized in a completely distributed manner in the sense that consensus design criteria are…
This paper addresses the global consensus problems of a class of nonlinear multi-agent systems with Lipschitz nonlinearity and directed communication graphs, by using a distributed consensus protocol based on the relative states of…
This paper presents a robust distributed coordination protocol that achieves generation of collision-free trajectories for multiple unicycle agents in the presence of stochastic uncertainties. We build upon our earlier work on…
We investigate notions of network centrality in terms of the underlying coupling graph of the network, structure of exogenous uncertainties, and communication time-delay. Our focus is on time-delay linear consensus networks, where…
In this paper, we study the problem of resilient consensus for a multi-agent network where some of the nodes might be adversarial, attempting to prevent consensus by transmitting faulty values. Our approach is based on that of the so-called…
This paper addresses the problem of resilient consensus in the presence of misbehaving nodes. Although it is typical to assume knowledge of at least some nonlocal information when studying secure and fault-tolerant consensus algorithms,…
Stochastic multi-agent systems are a central modeling framework for autonomous controllers, communication protocols, and cyber-physical infrastructures. In many such systems, however, transition probabilities are only estimated from data…
This paper focuses on the problem of distributed consensus control of multi-agent systems while considering two main practical concerns (i) stochastic noise in the agent dynamics and (ii) predefined performance constraints over evolutions…
We consider a multi-agent consensus problem in the presence of adversarial agents. The adversaries are able to listen to the inter-agent communications and try to estimate the state of the agents. The agents have a limited bit-rate for…
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…
This paper studies the consensus problem of heterogeneous multi-agent systems by the feedforward control and linear quadratic (LQ) optimal control theory. Different from the existing consensus control algorithms, which require to design an…
This work mainly addresses continuous-time multiagent consensus networks where an adverse attacker affects the convergence performances of said protocol. In particular, we develop a novel secure-by-design approach in which the presence of a…
In this paper, we address the discrete-time average consensus problem in strongly connected directed graphs, where nodes exchange information over unreliable error-prone communication links. We enhance the Robustified Ratio Consensus…
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…
In this paper, we consider a multi-agent resilient consensus problem, where some of the nodes may behave maliciously. The approach is to equip all nodes with a scheme to detect neighboring nodes when they behave in an abnormal fashion. To…
Multiagent systems consist of agents that locally exchange information through a physical network subject to a graph topology. Current control methods for networked multiagent systems assume the knowledge of graph topologies in order to…
This paper is concerned with the leader-following consensus problem for a class of Lipschitz nonlinear multi-agent systems with uncertain dynamics, where each agent only transmits its noisy output, at discrete instants and independently…