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consensus-problems
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Adaptive leader-following consensus in multi-agent systems with second-order nonlinear dynamics and directed switching topologies
, Article 8th International Conference on Electrical and Electronics Engineering, ELECO 2013, Bursa, 28 November 2013 through 30 November 2013 ; 2013 , Pages 482-486 ; 9786050105049 (ISBN) ; Haeri, M ; Sharif University of Technology
IEEE Computer Society
2013
Abstract
In this paper, we develop control algorithms for addressing second-order consensus problems in intrinsically second-order nonlinear multi-agent dynamical systems with switching topologies. The proposed adaptive controller applies a leader-following strategy in which all agents are assumed to be informed of the leader's state. Another feature of this work which specifically distinguishes it from others is that the proposed controller uses undirected and directed graphs to accommodate for a full range of possible graph information topologies without limitations of bidirectional communication
A distributed algorithm for proportional task allocation in networks of mobile agents
, Article IEEE Transactions on Automatic Control ; Volume 56, Issue 2 , October , 2011 , Pages 405-410 ; 00189286 (ISSN) ; Moarref, M ; Sharif University of Technology
2011
Abstract
In a proportional task allocation problem, it is desired for robotic agents to have equal duty to capability ratios. Here, this problem is addressed as a combination of deployment and consensus problems. Tasks occur in a convex region and each task is assigned to its nearest agent. Agents are deployed on this area in order to reach consensus over the value of their duty to capability ratio. A distributed, asynchronous, and scalable algorithm is presented for solving this problem in continuous time domain
A unified optimization-based framework to adjust consensus convergence rate and optimize the network topology in uncertain multi-agent systems
, Article IEEE/CAA Journal of Automatica Sinica ; Volume 8, Issue 9 , 2021 , Pages 1539-1548 ; 23299266 (ISSN) ; Tavazoei, M. S ; Sharif University of Technology
Institute of Electrical and Electronics Engineers Inc
2021
Abstract
This paper deals with the consensus problem in an uncertain multi-agent system whose agents communicate with each other through a weighted undirected (primary) graph. The considered multi-agent system is described by an uncertain state-space model in which the involved matrices belong to some matrix boxes. As the main contribution of the paper, a unified optimization-based framework is proposed for simultaneously reducing the weights of the edges of the primary communication graph (optimizing the network topology) and synthesizing a controller such that the consensus in the considered uncertain multi-agent system is ensured with an adjustable convergence rate. Considering the NP-hardness...