Consensus problems in multiagent systems: A vector based contraction approach

Abstract

This paper addresses the exploitation of vector based contraction theory to synchronize the motion of agents in multiagent systems. The convergence analysis of the agents using this theory provides a flexible frame as the components of a vector distance norm follow less stringent conditions than classical contraction analysis. The key feature is that it encompasses the formulation of some comparison system, as a result, the problem of convergence analysis of a complex multiagent system reduces to the convergence analysis of a much simpler comparison system. Hence, despite the nonlinearities, the methods of designing consensus controls remain simple as compared to the existing literature. We address four different cases: 1) consensus of third-order dynamics multiagent systems subjected to acceleration and input constraints; 2) consensus of multiagent systems with heterogeneous nodes under communication imperfections; 3) synchronization of multiagent systems with connected and disconnected switching topologies; 4) synchronization in networked systems with time-varying couplings. Moreover, an effective synchronization control scheme for a class of multiagent systems with underactuated agent dynamics is developed using the method of aggregation of comparison systems. Finally, simulation results are illustrated that show the validity of the mathematical results.

Fully distributed event‐triggered consensus control for linear multiagent systems under DoS attacks

“…Solve the LMIs to ensure that there exist a matrix Q satisfying A T Q + QA ≤ 𝜚 2 Q, P ≤ 𝜆Q, and Q ≤ 𝜆P. Finally, apply the control protocol (4) for each agent, and update the control law according to the event-triggered rule (12).…”

“…As a crucial collective behaviour of multiagent systems, abundant results on consensus have been obtained in the literatures (see, e.g. references [5][6][7][8][9][10][11][12][13][14] and the references therein).…”

Predefined Time Synchronization of Multi-Agent Systems: A Passivity Based Analysis

“…The synchronization problem of MAS has drawn the attention of many researchers in past few years due to its possible application in various areas such as the cooperation of unmanned air vehicles [1], mobile robots [2], cooperative attack of missiles [3], formation of satellites [4], exploration [5], surveillance and rescue tasks [6][7][8][9] among others. Additionally, in various literature, MAS has found possible application in the formation of satellites [4], air traffic control [10], flocking [11,12], and rendezvous [13,14]. These applications can be broadly grouped based on the nature of the problem being investigated under consensus, trajectory tracking, formation control, coordination, or synchronization [15][16][17][18][19].…”