Distributed Dynamic Clustering and Consensus in Multiagent Systems

被引：0

作者：

Lian, Bosen ^{[1
]}

Koru, Ahmet Taha ^{[2
]}

Xue, Wenqian ^{[3
]}

Lewis, Frank L. ^{[2
]}

Davoudi, Ali ^{[2
]}

机构：

[1] Auburn Univ, Elect & Comp Engn Dept, Auburn, AL 36849 USA

[2] Univ Texas Forth Worth, Arlington Res Inst, Ft Worth, TX 76118 USA

[3] Univ Florida, Elect & Comp Engn Dept, Gainesville, FL 32603 USA

来源：

IEEE TRANSACTIONS ON AUTOMATIC CONTROL | 2024年 / 69卷 / 09期

关键词：

Clustering methods; Topology; Directed graphs; Real-time systems; Multi-agent systems; Consensus control; Trajectory; Cluster consensus; distributed formation; dynamic clustering; graph theory; NETWORKS; AGENTS;

D O I：

10.1109/TAC.2024.3385349

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This article proposes a unified framework of a distributed dynamic clustering method and a distributed control law to solve the cluster consensus problem for networked multiagent systems (MASs) with multiple leaders. Given any initial unclustered directed graph and any initial-state followers and leaders, the distributed dynamic clustering method aims to cluster each leader with at least one follower without interconnection among the clusters. This cuts some initially available edges online by considering the real-time local information of states and connections while the distributed consensus control law is running. Then, the unified framework solves the problem under mild assumptions such that all agents in the same cluster reach a consensus with the leader without interference from the other clusters. The proposed method is validated in simulation examples.

引用

页码：6474 / 6481

页数：8

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