Related papers: Fast consensus of high-order multi-agent systems
This paper proposes model reduction approaches for consensus network systems based on a given clustering of the underlying graph. Namely, given a consensus network system of time-scaled agents evolving over a weighted undirected graph and a…
This paper addresses the leader-following consensus problem for discrete-time positive multi-agent systems over time-varying graphs. We assume that the followers may have mutually different positive dynamics which can also be different from…
We investigate convergence properties of a proposed distributed model predictive control (DMPC) scheme, where agents negotiate to compute an optimal consensus point using an incremental subgradient method based on primal decomposition as…
This paper proposes a consensus controller for multi-agent systems that can guarantee the agents' safety. The controller, built with the idea of output prediction and the Newton-Raphson method, achieves consensus for a class of…
In this paper, we study the leader-following consensus problem for a class of uncertain nonlinear multi-agent systems under jointly connected directed switching networks. The uncertainty includes constant unbounded parameters and external…
We study the problem of asymptotic consensus as it occurs in a wide range of applications in both man-made and natural systems. In particular, we study systems with directed communication graphs that may change over time. We recently…
This paper considers the distributed robust control problems of uncertain linear multi-agent systems with undirected communication topologies. It is assumed that the agents have identical nominal dynamics while subject to different…
This paper investigates the problem of securing exponentially fast consensus (exponential consensus for short) for identical agents with finite-dimensional linear system dynamics over dynamic network topology. Our aim is to find the weakest…
This note further studies the previously proposed consensus protocol for linear multi-agent systems with communication noises in [15], [16]. Each agent is allowed to have its own time-varying gain to attenuate the effect of communication…
This paper presents a new method for achieving dynamic consensus in linear discrete-time homogeneous multi-agent systems (MAS) with marginally stable or unstable dynamics. The guarantee of consensus in this setting involves a set of…
This work shows an approach to achieve output consensus among heterogeneous agents in a multi-agent environment where each agent is subject to input constraints. The communication among agents is described by a time-varying…
We consider the problem of robustness in large consensus networks that occur in many areas such as distributed optimization. Robustness, in this context, is the scaling of performance measures, e.g. H2-norm, as a function of network…
This paper addresses the full-state prescribed performance-based consensus problem for double-integrator multi-agent systems with jointly connected topologies. To improve the transient performance, a distributed prescribed performance…
The design of sensor networks capable of reaching a consensus on a globally optimal decision test, without the need for a fusion center, is a problem that has received considerable attention in the last years. Many consensus algorithms have…
In this chapter we look at one of the canonical driving examples for multi-agent systems: average consensus. In this scenario, a group of agents seek to agree on the average of their initial states. Depending on the particular application,…
This paper introduces a distributed control method for multi-agent robotic systems employing Over the Air Consensus (OtA-Consensus). Designed for agents with decoupled single-integrator dynamics, this approach aims at efficient formation…
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 article, we establish orientation and connectivity based criteria for the agreement algorithm to achieve asymptotic consensus in the context of time-varying topology and communication delays. These criteria unify and extend many…
For the task of moving a set of indistinguishable agents on a connected graph with unit edge distance to an arbitrary set of goal vertices, free of collisions, we propose a fast distance optimal control algorithm that guides the agents into…
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…