Consensus protocol for heterogeneous multi-agent systems: A Markov chain approach

被引:2
作者
Zhu Shan-Ying
Chen Cai-Lian
Guan Xin-Ping
机构
[1] Shanghai Jiao Tong Univ, Dept Automat, Shanghai 200240, Peoples R China
[2] Minist Educ, Key Lab Syst Control & Informat Proc, Shanghai 200240, Peoples R China
基金
中国国家自然科学基金;
关键词
heterogeneous multi-agent system; consensus protocol; Markov chain; NETWORKS;
D O I
10.1088/1674-1056/22/1/018901
中图分类号
O4 [物理学];
学科分类号
0702 ;
摘要
This paper deals with the consensus problem for heterogeneous multi-agent systems. Different from most existing consensus protocols, we consider the consensus seeking of two types of agents, namely, active agents and passive agents. The objective is to directly control the active agents such that the states of all the agents would achieve consensus. In order to obtain a computational approach, we subtly introduce an appropriate Markov chain to cast the heterogeneous systems into a unified framework. Such a framework is helpful for tackling the constraints from passive agents. Furthermore, a sufficient and necessary condition is established to guarantee the consensus in heterogeneous multi-agent systems. Finally, simulation results are provided to verify the theoretical analysis and the effectiveness of the proposed protocol.
引用
收藏
页数:5
相关论文
共 18 条
[1]  
[Anonymous], 2005, Wireless Communications
[2]  
Bicchi A, 2008, IEEE ROBOT AUTOM MAG, V15, P62, DOI 10.1109/M-RA.2007.914925
[3]   Consensus-based distributed sensor calibration and least-square parameter identification in WSNs [J].
Bolognani, Saverio ;
Del Favero, Simone ;
Schenato, Luca ;
Varagnolo, Damiano .
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL, 2010, 20 (02) :176-193
[4]   No-beacon collective circular motion of jointly connected multi-agents [J].
Chen, Zhiyong ;
Zhang, Hai-Tao .
AUTOMATICA, 2011, 47 (09) :1929-1937
[5]  
Horn R.A., 2012, Matrix Analysis
[6]   Consensus of Multiagent Systems and Synchronization of Complex Networks: A Unified Viewpoint [J].
Li, Zhongkui ;
Duan, Zhisheng ;
Chen, Guanrong ;
Huang, Lin .
IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS I-REGULAR PAPERS, 2010, 57 (01) :213-224
[7]  
Lin Z., 2006, THESIS U TORONTO TOR
[8]   Leader-following formation control of multi-agent networks based on distributed observers [J].
Luo Xiao-Yuan ;
Han Na-Ni ;
Guan Xin-Ping .
CHINESE PHYSICS B, 2010, 19 (10)
[9]   Consensus problems in networks of agents with switching topology and time-delays [J].
Olfati-Saber, R ;
Murray, RM .
IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2004, 49 (09) :1520-1533
[10]   Consensus seeking in multiagent systems under dynamically changing interaction topologies [J].
Ren, W ;
Beard, RW .
IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2005, 50 (05) :655-661