Leaderless and leader-following consensus for heterogeneous multi-agent systems with random link failures

• Published in: IET control theory & applications Vol. 8; no. 1; pp. 51 - 60
• Main Authors: Kim, Jae Man, Park, Jin Bae, Choi, Yoon Ho
• Format: Journal Article
• Language: English
• Published: Stevenage The Institution of Engineering and Technology 01.01.2014; John Wiley & Sons, Inc
• Subjects: adjacency neighbouring agents; Agents (artificial intelligence); Bernoulli probability sequence; communication network; control protocol; decentralised control; discrete time systems; discrete‐time heterogeneous multiagent systems; failure analysis; failure occurrence; first‐order dynamics; fixed topology; graph theory; heterogeneous consensus problem; leaderless consensus; leader‐following consensus; linear matrix inequalities; Lyapunov method; mean square stability; multi‐agent systems; network theory (graphs); probability; random link failures; random processes; second‐order dynamics; multi-agent systems; leader-following consensus; discrete-time heterogeneous multiagent systems; communication network; discrete time systems; graph theory; probability; random processes; network theory (graphs); Lyapunov method; decentralised control; control protocol; adjacency neighbouring agents; failure analysis; Bernoulli probability sequence; mean square stability; random link failures; linear matrix inequalities; second-order dynamics; fixed topology; failure occurrence; leaderless consensus; first-order dynamics; heterogeneous consensus problem
• ISSN: 1751-8644; 1751-8652
• DOI: 10.1049/iet-cta.2012.0855

This study investigates the heterogeneous consensus problem for multi-agent systems with random link failures between each agent. The discrete-time heterogeneous multi-agent systems are described by first-order and second-order dynamics, and the communication network is assumed to be directed with fixed topology. Since each link between the agents is subject to failure with a certain probability, the control protocol is designed considering the random link failures. The random link failures are presented by a Bernoulli probability sequence, that is, the control protocol for failure occurrence is designed using the one step previous data that is sent by adjacency neighbouring agents. The control protocol for heterogeneous multi-agent systems is designed for first-order dynamics and second-order dynamics using the Lyapunov method. The mean square stability is shown for leaderless and leader-following heterogeneous multi-agent systems in terms of a set of linear matrix inequalities, and some simulation results are provided to verify the effectiveness of the proposed methods.