Related papers: Minimum Time Consensus of Multi-agent System under…
This paper proposes a distributed model predicted control (DMPC) approach for consensus control of multi-agent systems (MASs) with linear agent dynamics and bounded control input constraints. Within the proposed DMPC framework, each agent…
This paper proposes two algorithms, namely "back-tracking" and "history following", to reach consensus in case of communication loss for a network of distributed agents with switching topologies. To reach consensus in distributed control,…
We study distributed output feedback control for a heterogeneous multi-agent system (MAS), consisting of N different continuous-time linear dynamical systems. For achieving output consensus, a virtual reference model is assumed to generate…
We derive fundamental limitations on the performances of intrinsic averaging algorithms in open multi-agent systems, which are systems subject to random arrivals and departures of agents. Each agent holds a value, and their goal is to…
Many algorithms have been proposed in prior literature to guarantee resilient multi-agent consensus in the presence of adversarial attacks or faults. The majority of prior work present excellent results that focus on discrete-time or…
This paper focuses on consensus problems for high-order, linear multi-agent systems. Undirected communication topologies and fixed, uniform communication time delay are taken into account. This class of problems has been widely study in the…
A problem of computing time-fuel optimal control for state transfer of a single input linear time invariant (LTI) system to the origin is considered. The input is assumed to be bounded. Since, the optimal control is bang-off-bang in nature,…
In the typical multiagent formation tracking problem centered on consensus, the prevailing assumption in the literature is that the agents' nonlinear models can be approximated by integrator systems, by their feedback-linearized…
We present a decentralized minimum-time trajectory optimization scheme based on learning model predictive control for multi-agent systems with nonlinear decoupled dynamics and coupled state constraints. By performing the same task…
In this work, we consider the problem of coordinating a collection of $n$th-order integrator systems. The coordination is achieved through the novel serial-consensus design, which can be seen as a method for achieving a stable closed-loop…
We consider cooperative multi-agent consensus optimization problems over an undirected network of agents, where only those agents connected by an edge can directly communicate. The objective is to minimize the sum of agent-specific…
In this paper the problem of driving the state of a network of identical agents, modeled by boundary-controlled heat equations, towards a common steady-state profile is addressed. Decentralized consensus protocols are proposed to address…
We address the problem of minimal actuator placement in linear systems so that the volume of the set of states reachable with one unit or less of input energy is lower bounded by a desired value. First, following the recent work of…
In this paper, we consider a leader-following consensus problem of a group of autonomous agents with time-varying coupling delays. Two different cases of coupling topologies are investigated. At first, a necessary and sufficient condition…
The first part of this paper is devoted to introducing an approach to compute the approximate minimum time function of control problems which is based on reachable set approximation and uses arithmetic operations for convex compact sets. In…
There has been substantial work studying consensus problems for which there is a single common final state, although there are many real-world complex networks for which the complete consensus may be undesirable. More recently, the concept…
In this paper, we propose a new self-triggered consensus algorithm in networks of multi-agents. Different from existing works, which are based on the observation of states, here, each agent determines its next update time based on its…
Solving optimization problems in multi-agent systems (MAS) involves information exchange between agents. These solutions must be robust to delays and errors that arise from an unreliable wireless network which typically connects the MAS. In…
This paper revisits the problem of multi-agent consensus from a graph signal processing perspective. Describing a consensus protocol as a graph spectrum filter, we present an effective new approach to the analysis and design of consensus…
This paper addresses the adaptive consensus problem in uncertain multi-agent systems, particularly under challenges posed by quantized communication. We consider agents with general linear dynamics subject to nonlinear uncertainties and…