Related papers: Distributed Consensus for Multiple Lagrangian Syst…
Reaching consensus among states of a multi-agent system is a key requirement for many distributed control/optimization problems. Such a consensus is often achieved using the standard Laplacian matrix (for continuous system) or Perron matrix…
This paper considers the problem of dynamic average consensus algorithm design for a group of communicating agents. This problem consists of designing a distributed algorithm that enables a group of agents with communication and computation…
This paper studies the problem of finding the median of N distinct numbers distributed across networked agents. Each agent updates its estimate for the median from noisy local observations of one of the N numbers and information from…
This paper proposes a distributed algorithm for average consensus in a multi-agent system under a fixed bidirectional communication topology, in the presence of malicious agents (nodes) that may try to influence the average consensus…
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…
We propose a weight design method to increase the convergence rate of distributed consensus. Prior work has focused on symmetric weight design due to computational tractability. We show that with proper choice of asymmetric weights, the…
We present distributed algorithms that can be used by multiple agents to align their estimates with a particular value over a network with time-varying connectivity. Our framework is general in that this value can represent a consensus…
We consider the global consensus problem for multi-agent systems with input saturation over digraphs. Under a mild connectivity condition that the underlying digraph has a directed spanning tree, we use Lyapunov methods to show that the…
This study develops an original and innovative matrix representation with respect to the information flow for networked multi-agent system. To begin with, the general concepts of the edge Laplacian of digraph are proposed with its algebraic…
We have recently proposed a "surplus-based" algorithm which solves the multi-agent average consensus problem on general strongly connected and static digraphs. The essence of that algorithm is to employ an additional variable to keep track…
In this note we give sufficient conditions for the convergence of the iterative algorithm called weighted-average consensus in directed graphs. We study the discrete-time form of this algorithm. We use standard techniques from matrix theory…
This paper investigates the distributed event-based consensus problem of switching networks satisfying the jointly connected condition. Both the state consensus of homogeneous linear networks and output consensus of heterogeneous networks…
Motivated by broad applications in various fields of engineering, we study a network resource allocation problem where the goal is to optimally allocate a fixed quantity of resources over a network of nodes. We consider large scale networks…
The emergence of large-scale multi-agent systems has led to controller synthesis methods for sparse communication between agents. However, most sparse controller synthesis algorithms remain centralized, requiring information exchange and…
Consensus problem of high-order integral multi-agent systems under switching directed topology is considered in this study. Depending on whether the agent's full state is available or not, two distributed protocols are proposed to ensure…
In this letter, we study the problem of accelerating reaching average consensus over connected graphs in a discrete-time communication setting. Literature has shown that consensus algorithms can be accelerated by increasing the graph…
This paper proposes an adaptive tracking control with prescribed performance function for distributive cooperative control of highly nonlinear multi-agent systems. The use of such approach confines the tracking error within a large…
We consider the problem of achieving average consensus among multiple agents, where the inter-agent communication network is depicted by a graph. We consider the discrete-time consensus protocol where each agent updates its value as a…
Distributed control increases system scalability, flexibility, and redundancy. Foundational to such decentralisation is consensus formation, by which decision-making and coordination are achieved. However, decentralised multi-agent systems…
We study the problem of distributed hypothesis testing with a network of agents where some agents repeatedly gain access to information about the correct hypothesis. The group objective is to globally agree on a joint hypothesis that best…