Related papers: REDCHO: Robust Exact Dynamic Consensus of High Ord…
A theorem on (partial) convergence to consensus of multiagent systems is presented. It is proven with tools studying the convergence properties of products of row stochastic matrices with positive diagonals which are infinite to the left.…
This paper considers the distributed robust suboptimal consensus control problem of linear multi-agent systems, with both H2 and H_infty performance requirements. A novel two-step complementary design approach is proposed. In the first…
Time-varying hierarchical multi-agent systems are common in many applications. A well-known solution to control these systems is to use state feedback controllers that depend on the adjacency matrix to reach consensus. This solution has…
The distributed optimal output consensus problem for high-order multi-agent systems has been studied recently. In this paper, we further focus on the same problem for high-order multi-agent systems subject to parametric uncertainties and…
This paper considers the distributed consensus problems for multi-agent systems with general linear and Lipschitz nonlinear dynamics. Distributed relative-state consensus protocols with an adaptive law for adjusting the coupling weights…
We investigate robust linear consensus over networks under capacity-constrained communication. The capacity of each edge is encoded as an upper bound on the number of state variables that can be communicated instantaneously. When the edge…
We consider multi-agent systems with cooperative interactions and study the convergence to consensus in the case of time-dependent connections, with possible communication failure. We prove a new condition ensuring consensus: we define a…
In this work, we consider the consensus problem in which legitimate agents share their values over an undirected communication network in the presence of malicious or faulty agents. Different from the previous works, we characterize the…
In this paper, we consider the second-order consensus problem for networked mechanical systems subjected to nonuniform communication delays, and the mechanical systems are assumed to interact on a general directed topology. We propose an…
We study continuous-time consensus dynamics for multi-agent systems with undirected switching interaction graphs. We establish a necessary and sufficient condition for exponential asymptotic consensus based on the classical theory of…
The constrained consensus problem considered in this paper, denoted interval consensus, is characterized by the fact that each agent can impose a lower and upper bound on the achievable consensus value. Such constraints can be encoded in…
We tackle the problem of a set of agents achieving resilient consensus in the presence of attacked agents. We present a discrete-time reputation-based consensus algorithm for synchronous and asynchronous networks by developing a local…
This paper proposes a new approach to analyze and synthesize robust consensus control laws for general linear leaderless multi-agent systems (MASs) subjected to input constraints or uncertainties. First, the MAS under input constraints or…
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…
In this paper, we investigate the consensus problem of second-order multiagent systems under directed graphs. Simple yet robust consensus algorithms that advance existing achievements in accounting for velocity and input constraints, agent…
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 proposes a novel approach to design reduced-order distributed consensus controllers for multi-agent systems (MASs) with identical linear dynamics of agents. A new model namely edge dynamics representing the differences on agents'…
In this technical note we consider a class of multi-agent network systems that we refer to as Open Multi-Agent Systems (OMAS): in these multi-agent systems, an indefinite number of agents may join or leave the network at any time. Focusing…
In this paper, we present a dynamic median consensus protocol for multi-agent systems using acoustic communication. The motivating target scenario is a multi-agent system consisting of underwater robots acting as intelligent sensors,…
In this paper, we investigate the approximate consensus problem in highly dynamic networks in which topology may change continually and unpredictably. We prove that in both synchronous and partially synchronous systems, approximate…