Title :
Consensus filter on networked single-integrator system
Author_Institution :
Dept. of Aerosp. Eng., Mississippi State Univ., Starkville, MS, USA
Abstract :
A novel consensus filter is addressed to solve the multi-agent cooperative problem in the presence of measurement noise, where single-integrator is considered as the model of the agent. Consensus filter is established by modifying the fundamental consensus algorithm to achieve not only the cooperation of state but the attenuation of noise. Initially, the low-pass property of this consensus filter is shown by a specific and fixed topology among the agents. Sequentially, the tracking stability to a dynamic reference is proven by the linear system theory and matrix theory. Due to the communication limit, switching topologies case is also considered. Finally, effectiveness of the proposed algorithm is verified by simulation results.
Keywords :
absorption; linear systems; low-pass filters; multi-agent systems; consensus filter; fixed topology; fundamental consensus algorithm; linear system theory; low-pass property; matrix theory; measurement noise; multiagent cooperative problem; networked single-integrator system; noise attenuation; specific topology; switching topologies; tracking stability; Filtering algorithms; Filtering theory; Low pass filters; Network topology; Stability analysis; Switches; Topology;
Conference_Titel :
Southeastcon, 2012 Proceedings of IEEE
Conference_Location :
Orlando, FL
Print_ISBN :
978-1-4673-1374-2
DOI :
10.1109/SECon.2012.6196886
