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Scaled consensus seeking in multiple non-identical linear autonomous agents.

Cheng-Lin Liu1

  • 1Key Laboratory of Advanced Process Control for Light Industry (Ministry of Education), Institute of Automation, Jiangnan University, Wuxi 214122, China.

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Summary
This summary is machine-generated.

This study addresses the scaled consensus problem in heterogeneous multi-agent systems. A new algorithm achieves consensus for stable linear agents, even with communication delays and under various network structures.

Keywords:
Communication delayHeterogeneous linear multi-agent systemsLeader-following algorithmScaled consensus problem

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Area of Science:

  • Control Theory
  • Multi-Agent Systems
  • Robotics

Background:

  • Heterogeneous multi-agent systems present challenges in achieving coordinated behavior.
  • The scaled consensus problem requires agents to agree on scaled values of their states.

Purpose of the Study:

  • To design a leader-following scaled consensus algorithm for non-identical stable linear agents.
  • To derive consensus conditions considering communication topology and delay.

Main Methods:

  • Frequency-domain analysis was employed to derive consensus conditions.
  • The study considered both undirected and directed communication topologies.
  • Communication delay was incorporated into the analysis under directed topology.

Main Results:

  • Consensus conditions were established for agents without communication delay under both topology types.
  • Consensus criteria were determined for agents with communication delay in directed networks.
  • Simulation examples validated the theoretical findings.

Conclusions:

  • The proposed leader-following scaled consensus algorithm is effective for heterogeneous multi-agent systems.
  • The derived conditions provide a theoretical basis for designing consensus protocols in complex networks.
  • The results are applicable to distributed control and coordination problems.