Full Text:   <1907>

Summary:  <1553>

CLC number: TP13

On-line Access: 2017-09-08

Received: 2016-07-16

Revision Accepted: 2016-11-17

Crosschecked: 2017-08-01

Cited: 0

Clicked: 6181

Citations:  Bibtex RefMan EndNote GB/T7714

 ORCID:

Hao-liang Li

http://orcid.org/0000-0003-1676-0066

-   Go to

Article info.
Open peer comments

Frontiers of Information Technology & Electronic Engineering  2017 Vol.18 No.8 P.1071-1081

http://doi.org/10.1631/FITEE.1601422


Designing a novel consensus protocol for multiagent systems with general dynamics under directed networks


Author(s):  Hao-liang Li, Ren-nong Yang, Qiu-ni Li

Affiliation(s):  Aeronautics and Astronautics Engineering College, Air Force Engineering University, Xi'an 710038, China

Corresponding email(s):   lihaoliang10524@163.com

Key Words:  Multi-agent, Consensus, PID control, Linear matrix inequality


Hao-liang Li, Ren-nong Yang, Qiu-ni Li. Designing a novel consensus protocol for multiagent systems with general dynamics under directed networks[J]. Frontiers of Information Technology & Electronic Engineering, 2017, 18(8): 1071-1081.

@article{title="Designing a novel consensus protocol for multiagent systems with general dynamics under directed networks",
author="Hao-liang Li, Ren-nong Yang, Qiu-ni Li",
journal="Frontiers of Information Technology & Electronic Engineering",
volume="18",
number="8",
pages="1071-1081",
year="2017",
publisher="Zhejiang University Press & Springer",
doi="10.1631/FITEE.1601422"
}

%0 Journal Article
%T Designing a novel consensus protocol for multiagent systems with general dynamics under directed networks
%A Hao-liang Li
%A Ren-nong Yang
%A Qiu-ni Li
%J Frontiers of Information Technology & Electronic Engineering
%V 18
%N 8
%P 1071-1081
%@ 2095-9184
%D 2017
%I Zhejiang University Press & Springer
%DOI 10.1631/FITEE.1601422

TY - JOUR
T1 - Designing a novel consensus protocol for multiagent systems with general dynamics under directed networks
A1 - Hao-liang Li
A1 - Ren-nong Yang
A1 - Qiu-ni Li
J0 - Frontiers of Information Technology & Electronic Engineering
VL - 18
IS - 8
SP - 1071
EP - 1081
%@ 2095-9184
Y1 - 2017
PB - Zhejiang University Press & Springer
ER -
DOI - 10.1631/FITEE.1601422


Abstract: 
The consensus problem for general linear multi-agent systems (MASs) under directed topology is investigated. First, a novel consensus protocol based on proportional-integral-derivative (PID) control is proposed. Second, the consensus problem is converted into an asymptotic stability problem through transformations. Third, through a state projection method the consensus condition is proved and the explicit expression of the consensus function is given. Then, a Lyapunov function is constructed and the gain matrices of the protocol are given based on the linear matrix inequality. Finally, two experiments are conducted to explain the advantages of the method. Simulation results show the effectiveness of the proposed algorithm.

一种新型的有向拓扑条件下普通线性多智能体系统的一致性协议

概要:本文研究了普通线性多智能体系统在有向拓扑条件下的一致性问题。首先基于分布式PID(Proportional-integral-derivative)控制提出了一种新的一致性协议,然后通过变量转换将一致性问题转变为一个渐进稳定问题,通过状态投影方法给出了系统实现一致性的充分必要条件和一致性函数的显示表达式,然后构建Lyapunov函数,基于线性矩阵不等式(Linear matrix inequality, LMI)给出了一致性协议中增益矩阵的范围,最后通过两组实验来验证这种方法的优势。仿真结果表明了所提方法的有效性。

关键词:多智能体;一致性;PID(Proportional-integral-derivative)控制;线性矩阵不等式

Darkslateblue:Affiliate; Royal Blue:Author; Turquoise:Article

Reference

[1]Andreasson, M., Sandberg, H., Dimarogonas, D.V., et al., 2012. Distributed integral action: stability analysis and frequency control of power systems. 51st Proc. IEEE Conf. on Decision and Control, p.2077-2083.

[2]Cai, H., Huang, J., 2014. The leader-following attitude control of multiple rigid spacecraft systems. Automatica, 50(4):1109-1115.

[3]Chen, K.R., Wang, J.W., Zhang, Y., et al., 2015. Consensus of second-order nonlinear multi-agent systems under state-controlled switching topology. Nonl. Dynam., 81(4):1871-1878.

[4]Cheng, L., Wang, Y., Ren, W., et al., 2015. Containment control of multiagent systems with dynamic leaders based on a PIn type approach. IEEE Trans. Cybern., 46(12):3004-3017.

[5]Daniel, B., Mario, D., 2014. Distributed PID control for consensus of homogeneous and heterogeneous networks. IEEE Trans. Contr. Netw. Syst., 22(2):154-163.

[6]Fax, J.A., Murray, R.M., 2004. Information flow and cooperative control of vehicle formations. IEEE Trans. Autom. Contr., 49(9):1465-1476.

[7]Ji, L., Liao, X., 2013. Consensus problems of first-order dynamic multi-agent systems with multiple time delays. Chin. Phys. B, 4(22):040203.

[8]Li, Z.K., Ren, W., Liu, X.D., et al., 2013. Distributed consensus of linear multi-agent systems with adaptive dynamic protocols. Automatica, 49(7):1986-1995.

[9]Lin, Z.J., Hong, T., Liu, H., 2015. Consensus based on learning game theory with a UAV rendezvous application. Chin. J. Aeronaut., 28(1):191-199.

[10]Liu, Y.F., Geng, Z.Y., 2015. Finite-time formation control for linear multi-agent systems: a motion planning approach. Syst. Contr. Lett., 85(9):54-60.

[11]Lombana, D.A.B., di Bernardo, M., 2015. Distributed PID control for consensus of homogeneous and heterogeneous networks. IEEE Trans. Contr. Netw. Syst., 2(2):154-163.

[12]Mu, X.W., Yang, Z., Liu, K., et al., 2015. Containment control of general multi-agent systems with directed random switching topology. J. Franklin Inst., 352(10):4067-4080.

[13]Olfati-Saber, R., 2006. Flocking for multi-agent dynamic systems: algorithms and theory. IEEE Trans. Autom. Contr., 51(3):401-420.

[14]Olfati-Saber, R., Fax, J.A., Murray, R.M., 2007. Consensus and cooperation in networked multi-agent systems. Proc. IEEE, 95(1):215-233.

[15]Ren, W., Beard, R.W., 2005. Consensus seeking in multiagent systems under dynamically changing interaction topologies. IEEE Trans. Autom. Contr., 50(5):655-661.

[16]Ren, W., Beard, R., Atkins, E., 2007. Information consensus in multivehicle cooperative control. IEEE Contr. Syst., 27(2):71-82.

[17]Ruggero, C., Edoardo, D., Sandro, Z., 2011. A PI controller based on asymmetric gossip communications for clocks synchronization in wireless sensors networks. 50th IEEE Conf. on Decision and Control and European Control, p.7512-7517.

[18]Sam, S., Khan, U.A., 2015. Leader-follower consensus in mobile sensor networks. IEEE Signal Process. Lett., 22(12):2249-2253.

[19]Su, H.S., Zhang, W., 2008. Second-order consensus of multiple agents with coupling delay. 7th World Congress on Intelligent Control and Automation, p.7181-7186.

[20]Sun, G., 2012. Second-order consensus of multiple agents with bounded control inputs and preserved network connectivity. Commun. Theor. Phys., 57(4):624-628.

[21]Wang, Y., Cheng, L., Hou, Z., et al., 2015. Coordinated transportation of a group of unmanned ground vehicles. 34th Chinese Control Conf., p.7027-7032.

[22]Yang, C.X., Hong, W.X., Huang, L.Y., et al., 2014. Fast consensus tracking of multiagent systems with diverse communication delays and input delays. Math. Probl. Eng., 2014:1-10.

[23]Yang, X.G., Xi, J.X., Wu, J.Y., et al., 2015. Consensus transformation for multi-agent systems with topology variances and time-varying delays. Neurocomputing, 168(5):1059-1064.

[24]Zhang, H., Yang, R., Yan, H., et al., 2015. Hinfty consensus of event-based multi-agent systems with switching topology. Inform. Sci., 370(24):623-635.

[25]Zhang, H.T., Cheng, Z.M., Chen, G.R., 2015. Model predictive flocking control for second-order multi-agent systems with input constraints. IEEE Trans. Circ. Syst. I, 62(6):1599-1606.

Open peer comments: Debate/Discuss/Question/Opinion

<1>

Please provide your name, email address and a comment





Journal of Zhejiang University-SCIENCE, 38 Zheda Road, Hangzhou 310027, China
Tel: +86-571-87952783; E-mail: cjzhang@zju.edu.cn
Copyright © 2000 - 2022 Journal of Zhejiang University-SCIENCE