Related papers: Matrix-Scaled Consensus over Undirected Networks
In this paper, the optimal consensus problem for general nonlinear multi-agent systems is studied, where both leaderless and leader-follower cases are considered in a unified framework. The key idea is to convert consensus problems into…
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…
We explore the problem of inferring the graph Laplacian of a weighted, undirected network from snapshots of a single or multiple discrete-time consensus dynamics, subject to parameter uncertainty, taking place on the network. Specifically,…
Guaranteed-cost consensus for high-order nonlinear multi-agent networks with switching topologies is investigated. By constructing a time-varying nonsingular matrix with a specific structure, the whole dynamics of multi-agent networks is…
This brief addresses the distributed consensus problem of nonlinear multi-agent systems under a general directed communication topology. Each agent is governed by higher-order dynamics with mismatched uncertainties, multiple completely…
The consensus strategies used in collaborative multi-agent systems (MAS) face notable challenges related to adaptability, scalability, and convergence certainties. These approaches, including structured workflows, debate models, and…
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…
In this paper, we study the leaderless consensus problem for multiple Lagrangian systems in the presence of parametric uncertainties and external disturbances under directed graphs. For achieving asymptotic behavior, a robust continuous…
This paper revisits the problem of multi-agent consensus from a graph signal processing perspective. By defining the graph filter from the consensus protocol, we establish the direct relation between average consensus of multi-agent systems…
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…
In this paper, we provide a theoretical analysis for nonlinear discontinuous consensus protocols in networks of multiagents over weighted directed graphs. By integrating the analytic tools from nonsmooth stability analysis and graph theory,…
In important applications involving multi-task networks with multiple objectives, agents in the network need to decide between these multiple objectives and reach an agreement about which single objective to follow for the network. In this…
Distributed optimization finds applications in large-scale machine learning, data processing and classification over multi-agent networks. In real-world scenarios, the communication network of agents may encounter latency that may affect…
Consensusability is an important property for many multi-agent systems (MASs) as it implies the existence of networked controllers driving the states of MAS subsystems to the same value. Consensusability is of interest even when the MAS…
In this note, we discuss the problem of consensus finding in communication networks of agents with dynamically switching topologies. In particular, we consider the case of directed networks with unbalanced matrices of communication rates.…
The current paper addresses the distributed guaranteed-performance consensus design problems for general high-order linear multiagent systems with leaderless and leader-follower structures, respectively. The information about the Laplacian…
In this paper, we consider the consensus problem of dynamical multiple agents that communicate via a directed moving neighborhood random network. Each agent performs random walk on a weighted directed network. Agents interact with each…
Distributed consensus protocols provide a mechanism for spreading information within clustered networks, allowing agents and clusters to make decisions without requiring direct access to the state of the ensemble. In this work, we propose a…
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…
In this paper, we propose a new and systematic design framework for output consensus in heterogeneous Multi-Input Multi-Output (MIMO) general nonlinear Multi-Agent Systems (MASs) subjected to directed communication topology. First, the…