相关论文: Almost global consensus on the n-sphere

In this brief paper, a new consensus protocol based on the sign of innovations is proposed. Based on this protocol each agent only requires single-bit of information about its relative state to its neighboring agents. This is significant in…

Consensus on nonlinear spaces is of use in many control applications. This paper proposes a gradient descent flow algorithm for consensus on hypersurfaces. We show that if an inequality holds, then the system converges for almost all…

Multi-agent systems on nonlinear spaces sometimes fail to synchronize. This is usually attributed to the initial configuration of the agents being too spread out, the graph topology having certain undesired symmetries, or both. Besides…

In this paper, we consider the consensus problem of switched multi-agent system composed of continuous-time and discrete-time subsystems. By combining the classical consensus protocols of continuous-time and discrete-time multi-agent…

This paper addresses the global consensus problems of a class of nonlinear multi-agent systems with Lipschitz nonlinearity and directed communication graphs, by using a distributed consensus protocol based on the relative states of…

Certain consensus seeking multi-agent systems can be formulated as gradient descent flows of a disagreement function. We study how known pathologies of gradient descent flows in Euclidean spaces carry over to consensus seeking systems that…

Consensus algorithms are popular distributed algorithms for computing aggregate quantities, such as averages, in ad-hoc wireless networks. However, existing algorithms mostly address the case where the measurements lie in a Euclidean space.…

The present paper considers distributed consensus algorithms that involve N agents evolving on a connected compact homogeneous manifold. The agents track no external reference and communicate their relative state according to a…

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…

We study the convergence properties of Riemannian gradient method for solving the consensus problem (for an undirected connected graph) over the Stiefel manifold. The Stiefel manifold is a non-convex set and the standard notion of averaging…

We describe a protocol for the average consensus problem on any fixed undirected graph whose convergence time scales linearly in the total number nodes $n$. The protocol is completely distributed, with the exception of requiring all nodes…

Multi-agent coordination algorithms with randomized interactions have seen use in a variety of settings in the multi-agent systems literature. In some cases, these algorithms can be random by design, as in a gossip-like algorithm, and in…

This paper investigates the consensus problem in almost sure sense for uncertain multi-agent systems with noises and fixed topology. By combining the tools of stochastic analysis, algebraic graph theory, and matrix theory, we analyze the…

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…

This paper investigates the fixed-time consensus problem for a class of multi-agent systems with simple dynamics. Unlike the traditional way to realize fixed-time convergence, a novel strategy using the property of periodic functions is…

In this paper, a consensus algorithm is proposed for interacting multi-agents, which can be modeled as simple Mechanical Control Systems (MCS) evolving on a general Lie group. The standard Laplacian flow consensus algorithm for double…

We present two main theorems along the lines of Lyapunov's second method that guarantee asymptotic state consensus in multi-agent systems of agents in R^m with switching interconnection topologies. The two theorems complement each other in…

Two types of general nonlinear consensus protocols are considered in this paper, namely the systems with nonlinear measurement and communication of the agents' states, respectively. The solutions of the systems are understood in the sense…

This paper concerns the consensus of discrete-time multi-agent systems with linear or linearized dynamics. An observer-type protocol based on the relative outputs of neighboring agents is proposed. The consensus of such a multi-agent system…

Quadratic Lyapunov functions are prevalent in stability analysis of linear consensus systems. In this paper we show that weighted sums of convex functions of the different coordinates are Lyapunov functions for irreducible consensus…