Figure 1 - available via license: Creative Commons Attribution 4.0 International
Content may be subject to copyright.
Information flow configuration: (a) cyclic topology; (b) chain topology. The gray circle represents the leader agent and white circles are followers.
Source publication
DC motor speed synchronization is a critical problem in industrial and robotic applications. To tackle this problem, we propose to use a multi-agent consensus-based control scheme that guarantees the convergence of the DC motor speeds to either fixed or time-varying reference. A detailed robustness analysis considering parametric uncertainty and ti...
Contexts in source publication
Context 1
... C = B T are the output and input vectors and L is the Laplacian matrix of G, the multi-agent information graph. Notice that, without loss of generality, agent 1 can be designated as the leader agent with access to the reference as shown in Figure 1. The leader control law considered here is based on the center of mass (average) of the states [4] ...
Context 2
... information flow between agents is defined by the employed topology. In [4], it is stated that cyclic and chain topology, shown in Figure 1, can be combined to model all kinds of complex multi-agent information flow topologies. It is important to recall that the forced consensus of multi-agent systems of arbitrary length communicating over networks with cyclic and chain topologies are controllable and observable. ...
Context 3
... particular case of a three agents system with a cyclic topology, as in Figure 1a, is analyzed below. Thus, for this case, Equation (1) simplifies to ...
Citations
... Other papers presented in this Special Issue explore other interesting topics, such as consensus-based systems, as in the case of the work presented in [14], which performs a detailed robustness analysis considering parametric uncertainty and time delays in a multi-agent system to guarantee consensus in a specific domain. In addition, the work presented in [15] is related to the area of argumentation in MAS. ...
Multi-agent systems (MAS) are a class of systems in which multiple agents interact with each other and their environment to achieve a common or individual goal [...]
... Most pioneering works have considered the consensus problem for homogeneous agents, which have identical dynamics, with single-integrator [1,2,4,5], double-integrator [6][7][8], highorder linear [9][10][11][12], and nonlinear dynamics [13][14][15]. However, in real applications, it is often unrealistic for all agents to have an identical model. ...
... where β i is any positive constant, T i andC i are given in (5), and P i is given in Lemma 1. 2. F = τW −1 R T R, where τ is a positive constant such that τλ 1 (L) > 1, whereL = L + diag(α 10 , ..., α N0 ), and the positive definite matrix W is the solution of (25) in Lemma 5. ...
This paper studies the consensus problem for heterogeneous multi-agent systems with output saturations. We consider the agents to have different dynamics and assume that the agents are neutrally stable and that the communication graph is undirected. The goal of this paper is to achieve the consensus for leaderless and leader-following cases. To solve this problem, we propose the observer-based distributed consensus algorithms, which consists of three parts: the nonlinear observer, the reference generator, and the regulator. Then, we analyze the consensus based on the Lasalle’s Invariance Principle and the input-to-state stability. Finally, we provide numerical examples to demonstrate the validity of the proposed algorithms.
