Abstract
ABSTRACTAs a solution to the distributed multi-agent coordination, the problems of consensus or agreement have been widely explored and studied in the literature. This document provides an overview of consensus problems in multi-agent cooperative control with the goal of exposing the related literature and promote the research in this area. The document presents the theoretical results concerning the search for consensus in the involved topologies with information exchange that is invariant in time and change dynamically. Applications related to consensus protocols are studied for the cooperation of multi-agent systems. The presentation includes as well open problems and offers future research direction.
Highlights
In recent years, the consensus problem in multi-agent systems (MAS) has become an attractive research area of interest, due to the potential applications in such broad areas as in control of unmanned aerial vehicles (UAVs), sensor networks, distributed computing in computer science, medicine, environmental controlling system and military observation [1,2,3,4,5,6,7,8]
In another study by Feng et al [99], the consensus values of all agents was established via a proposed nonlinear consensus protocol of first-order and secondorder dynamic systems with necessary and sufficient conditions based on the matrix theory for consensus problem in the context of heterogeneous MAS
Most consensus problems in MAS have been considered in the framework of linear dynamics model
Summary
The consensus problem in multi-agent systems (MAS) has become an attractive research area of interest, due to the potential applications in such broad areas as in control of unmanned aerial vehicles (UAVs), sensor networks, distributed computing in computer science, medicine, environmental controlling system and military observation [1,2,3,4,5,6,7,8]. The yield protocol runs can be used to improve the performance of dynamic consensus algorithm or to satisfy other restrictions [35] From these reasons, the work at hand is motivated to present an overview of linear, nonlinear protocols of some researches, and propose a nonlinear protocol for consensus problem in MAS. Another work based on nonlinear operator has been presented in [45] for convergence of the individual agents in network connectivity to reach a common value In yet another consideration, Hui and Haddad [46] designed nonlinear protocols for consensus problems that guarantee convergence for multi-agent dynamical systems and at the same time addressed the Lyapunov’s stable equilibrium. The present concern is to investigate possible nonlinear models with faster convergence to optimal consensus, and yet with relatively low complexity and more flexible system conditions
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