First-order average consensus for cooperative control problems using novel weighting strategies

Publikationstyp
Conference Paper
Publikationsdatum
2017-10-18
Sprache
English
Author
Mirali, Furugh 
Mendez Gonzalez, Antonio 
Werner, Herbert 
Institut
Regelungstechnik E-14 
DOI
10.15480/882.3477
TORE-URI
http://hdl.handle.net/11420/3280
Enthalten in
IFAC-PapersOnLine 
Volume
50
Issue
1
Start Page
14302
End Page
14307
Citation
IFAC-PapersOnLine 1 (50): 14302-14307 (2017)
Contribution to Conference
20th IFAC World Congress 2017 
Publisher DOI
10.1016/j.ifacol.2017.08.1865
Scopus ID
2-s2.0-85032373528
Publisher
Elsevier
In this paper we show how average consensus can be guaranteed in cooperative control schemes for multi-agent systems, even when normalised or weighted Laplacians are used. First we present weighting strategies for improving the performance that can be applied in a distributed manner (only local information is used), based on a recently proposed importance matrix. Then we modify the first-order consensus protocol, such that average consensus is guaranteed. It is then shown how this scheme can be used to improve the performance of cooperative control schemes. For this purpose, the effect of a formation reference on the consensus states is explicitly stated. A simulation result with second order LTI agent models illustrates the proposed approach.
Schlagworte
average consensus
cooperative control
distributed
Multi-agent systems
networks
DDC Class
600: Technik
Publication version
publishedVersion
Lizenz
https://creativecommons.org/licenses/by-nc-nd/4.0/
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