Consensus Protocol For Multi-agent Systems Research Articles

Nonlinear consensus protocols for multi-agent systems based on centre manifold reduction

Nonlinear consensus protocols for dynamic directed networks of multi-agent systems with fixed and switching topologies are investigated separately in this paper. Based on the centre manifold reduction technique, nonlinear consensus protocols are presented. We prove that a group of agents can reach a β-consensus, the value of which is the group decision value varying from the minimum and the maximum values of the initial states of the agents. Moreover, we derive the conditions to guarantee that all the agents reach a β–consensus on a desired group decision value. Finally, a simulation study concerning the vertical alignment manoeuvere of a team of unmanned air vehicles is performed. Simulation results show that the nonlinear consensus protocols proposed are more effective than the linear protocols for the formation control of the agents and they are an improvement over existing protocols.

On the general consensus protocol of multi-agent systems with double-integrator dynamics

In this paper, a general consensus protocol is considered for multi-agent systems with double-integrator dynamics. The advantage of this protocol is that different consensus dynamics including linear, periodic and positive exponential dynamics can be realized by choosing different gains. Necessary and sufficient conditions for solving the consensus problem with the considered general protocol are obtained, namely, all the gains realizing the consensus can be described. The design method of the consensus protocol is constructively given. Moreover, a periodic consensus protocol is obtained as a special case and it is revealed that the maximum convergence speed can be achieved by choosing suitable gains.

Nonlinear Multi-Agent System Consensus with Time-Varying Delays

Most consensus protocols for Multi-Agent Systems (MAS) presented in the past do not consider communication constraints such as delays in the exchange of information between the agents. In this paper, we provide conditions for a nonlinear, locally passive MAS with time-varying communication delays to reach a consensus, using a recently presented method based on an invariance principle for Lyapunov-Razumikhin functions. We consider both the cases of fixed and switching topologies. In the case of a fixed topology, the underlying directed graph has to contain a spanning tree. In the case of a switching topology, only the union graph of all graphs that persist over time is required to contain a spanning tree.