Title :
Group consensus of multi-agent systems with undirected communication graphs
Author :
Yu, Junyan ; Wang, Long
Author_Institution :
Coll. of Eng. & Key Lab. of Machine Perception (Minist. of Educ.), Peking Univ., Beijing, China
Abstract :
We investigate a new consensus problem in networks of dynamic agents, where the agents in a network can reach more than one consistent values asymptotically. It contains such consensus problem as a special case that all agents in a network reach a consistent value asymptotically. When information exchange is undirected, a novel consensus protocol is designed to solve the group consensus problem. The convergence analysis is discussed and several criterions are established based on graph theories and matrix theories. Simulation results are presented to demonstrate the effectiveness of the theoretical results.
Keywords :
convergence; graph theory; matrix algebra; multi-robot systems; convergence analysis; dynamic agent network; group consensus protocol; information exchange; matrix theory; multiagent system; undirected communication graph; Algorithm design and analysis; Communication system control; Convergence; Delay; Graph theory; Lyapunov method; Multiagent systems; Network topology; Protocols; Vehicle dynamics;
Conference_Titel :
Asian Control Conference, 2009. ASCC 2009. 7th
Conference_Location :
Hong Kong
Print_ISBN :
978-89-956056-2-2
Electronic_ISBN :
978-89-956056-9-1
