Designing Fully Distributed Consensus Protocols for Linear Multi-agent Systems with Directed Graphs
arXiv:1312.7377 · doi:10.1109/TAC.2014.2350391
Abstract
This paper addresses the distributed consensus protocol design problem for multi-agent systems with general linear dynamics and directed communication graphs. Existing works usually design consensus protocols using the smallest real part of the nonzero eigenvalues of the Laplacian matrix associated with the communication graph, which however is global information. In this paper, based on only the agent dynamics and the relative states of neighboring agents, a distributed adaptive consensus protocol is designed to achieve leader-follower consensus for any communication graph containing a directed spanning tree with the leader as the root node. The proposed adaptive protocol is independent of any global information of the communication graph and thereby is fully distributed. Extensions to the case with multiple leaders are further studied.
16 page, 3 figures. To appear in IEEE Transactions on Automatic Control
References in corpus (1)
Cited by in corpus (22)
- Guaranteed-cost consensus for multiagent networks with Lipschitz nonlinear dynamics and switching topologies
- Reduced-order Distributed Consensus Controller Design via Edge Dynamics
- Resilient Containment Control of Heterogeneous Multi-Agent Systems Against Unbounded Sensor and Actuator Attacks
- Minimum-Rank Dynamic Output Consensus Design for Heterogeneous Nonlinear Multi-Agent Systems
- Fully Distributed Adaptive Output Feedback Protocols for Linear Multi-Agent Systems with Directed Graphs: A Sequential Observer Design Approach
- Adaptive Approaches for Fully Distributed Nash Equilibrium Seeking in Networked Games
- Completely Distributed Guaranteed-performance Consensualization for High-order Multiagent Systems with Switching Topologies
- Fully Distributed Adaptive Controllers for Cooperative Output Regulation of Heterogeneous Linear Multi-agent Systems with Directed Graphs
- A fully distributed event-triggered communication strategy for second-order multi-agent systems consensus
- Cooperative output regulation of multi-agent network systems with dynamic edges
- Fully Distributed Event-Triggered Protocols for Linear Multi-Agent Networks
- Control of Large-Scale Networked Cyberphysical Systems Using Cryptographic Techniques
- Distributed Neighbor Selection in Multi-agent Networks
- Adaptive guaranteed-performance consensus design for high-order multiagent systems
- Containment Control of Second-order Multi-agent Systems Under Directed Graphs and Communication Constraints
- Event-triggered bipartite consensus for multiagent system with general linear dynamics: an integral-type event triggered control
- On Non-Consensus Motions of Dynamical Linear Multi-Agent Systems
- Optimal Synchronization Control for Heterogeneous Multi-Agent Systems: Online Adaptive Learning Solutions
- Adaptive algorithms for synchronization, consensus of multi-agents and anti-synchronization of direct complex networks
- Time-Varying and Nonlinearly Scaled Consensus of Multiagent Systems: A Generic Attracting Law Approach
- Fixed-Time Cooperative Tracking Control for Double-Integrator Multi-Agent Systems: A Time-Based Generator Approach
- Event-Triggered Consensus of Homogeneous and Heterogeneous Multi-Agent Systems with Jointly Connected Switching Topologies