Related papers: Distributed control of multi-consensus
The non-consensus problems of high order linear time-invariant dynamical homogeneous multi-agent systems are concerned. Based on the conditions of consensus achievement, the mechanisms that lead to non-consensus motions are analyzed.…
Information is often stored in a distributed and proprietary form, and agents who own information are often self-interested and require incentives to reveal their information. Suitable mechanisms are required to elicit and aggregate such…
This paper investigates the distributed model predictive control for an asynchronous nonlinear multi-agent system with external interference via a self-triggered generator and a prediction horizon regulator. First, a shrinking constraint…
This paper is concerned with a leader-follower problem for a multi-agent system with a switching interconnection topology. Distributed observers are designed for the second-order follower-agents, under the common assumption that the…
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…
In this paper, we study the consensus problem for continuous-time and discrete-time multi-agent systems in state-dependent switching networks. In each case, we first consider the networks with fixed connectivity, in which the communication…
This paper introduces a novel approach of clustering, which is based on group consensus of dynamic linear high-order multi-agent systems. The graph topology is associated with a selected multi-agent system, with each agent corresponding to…
In this paper we address the consensus problem in the context of networked agents whose communication graph can be split into a certain number of clusters in such a way that interactions between agents in the same clusters are cooperative,…
In this paper the problem of stabilizing large-scale systems by distributed controllers, where the controllers exchange information via a shared limited communication medium is addressed. Event-triggered sampling schemes are proposed, where…
Generalized from the concept of consensus, this paper considers a group of edge agreements, i.e. constraints defined for neighboring agents, in which each pair of neighboring agents is required to satisfy one edge agreement constraint. Edge…
We consider the problem of controlling the group behavior of a large number of dynamic systems that are constantly interacting with each other. These systems are assumed to have identical dynamics (e.g., birds flock, robot swarm) and their…
Despite longstanding interest, controller synthesis remains challenging for networks of heterogeneous, nonlinear agents. Moreover, the requirements for computational scalability and information privacy have become increasingly critical.…
The aim of this work is to define a planner that enables robust legged locomotion for complex multi-agent systems consisting of several holonomically constrained quadrupeds. To this end, we employ a methodology based on behavioral systems…
In this paper, the target controllability of multiagent systems under directed weighted topology is studied. A graph partition is constructed, in which part of the nodes are divided into different cells, which are selected as leaders. The…
This paper addresses the problem of consensus tracking with fixed-time convergence, for leader-follower multi-agent systems with double-integrator dynamics, where only a subset of followers has access to the state of the leader. The control…
Recent papers have treated {\em control communication complexity} in the context of information-based, multiple agent control systems including nonlinear systems of the type that have been studied in connection with quantum information…
The event-triggered consensus problem of first-order multi-agent systems under directed topology is investigated. The event judgements are only implemented at periodic time instants. Under the designed consensus algorithm, the sampling…
In this paper, a multi-agent coordination problem with steady-state regulation constraints is investigated for a class of nonlinear systems. Unlike existing leader-following coordination formulations, the reference signal is not given by a…
In the leader-follower approach, one or more agents are selected as leaders who do not change their states or have autonomous dynamics and can influence other agents, while the other agents, called followers, perform a simple protocol based…
In this paper it is established that any jointly controllable, jointly observable, multi-channel, discrete or continuous time linear system with a strongly connected neighbor (communication) graph can be exponentially stabilized with any…