Leaderless and leader-following consensus for heterogeneous multi-agent systems with random link failures
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 f...
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| Published in | IET control theory & applications Vol. 8; no. 1; pp. 51 - 60 |
|---|---|
| Main Authors | , , |
| Format | Journal Article |
| Language | English |
| Published |
Stevenage
The Institution of Engineering and Technology
01.01.2014
John Wiley & Sons, Inc |
| Subjects | |
| Online Access | Get full text |
| ISSN | 1751-8644 1751-8652 |
| DOI | 10.1049/iet-cta.2012.0855 |
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| Abstract | 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. |
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| AbstractList | 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. 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. [PUBLICATION ABSTRACT] |
| Author | Park, Jin Bae Choi, Yoon Ho Kim, Jae Man |
| Author_xml | – sequence: 1 givenname: Jae Man surname: Kim fullname: Kim, Jae Man email: utopiaro@yonsei.ac.kr organization: 1Department of Electrical and Electronic Engineering, Yonsei University, 50 Yonsei-ro, Seodaemum-Gu, Seoul 120-749, Korea – sequence: 2 givenname: Jin Bae surname: Park fullname: Park, Jin Bae organization: 1Department of Electrical and Electronic Engineering, Yonsei University, 50 Yonsei-ro, Seodaemum-Gu, Seoul 120-749, Korea – sequence: 3 givenname: Yoon Ho surname: Choi fullname: Choi, Yoon Ho organization: 2School of Electronic Engineering, Kyonggi University, Suwon, Kyonggi-Do, Korea |
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| Copyright | The Institution of Engineering and Technology 2021 The Authors. IET Control Theory & Applications published by John Wiley & Sons, Ltd. on behalf of The Institution of Engineering and Technology Copyright The Institution of Engineering & Technology Jan 2014 |
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| Keywords | 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 |
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| Snippet | This study investigates the heterogeneous consensus problem for multi-agent systems with random link failures between each agent. The discrete-time... This study investigates the heterogeneous consensus problem for multi‐agent systems with random link failures between each agent. The discrete‐time... |
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| SubjectTerms | 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 |
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| Title | Leaderless and leader-following consensus for heterogeneous multi-agent systems with random link failures |
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