Consensus of heterogeneous multiple integrator agents on directed graphs

Abdelkader Abdessameud, Abdelhamid Tayebi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper considers the consensus problem of heterogeneous high-order multi-agent systems, described by multiple integrator dynamics with mixed order, under general directed graphs. We propose a state-feedback-based distributed consensus algorithm that achieves consensus without topology-dependent conditions. It is shown that consensus is reached under a necessary and sufficient condition of an interconnection graph having a spanning tree. As a result, the proposed approach relaxes some restrictive assumptions, commonly considered in the literature, on the availability of global information for all agents and on the type of information shared among agents.

Original languageEnglish (US)
Title of host publication2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages3437-3442
Number of pages6
ISBN (Electronic)9781509028733
DOIs
StatePublished - Jan 18 2018
Event56th IEEE Annual Conference on Decision and Control, CDC 2017 - Melbourne, Australia
Duration: Dec 12 2017Dec 15 2017

Publication series

Name2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017
Volume2018-January

Other

Other56th IEEE Annual Conference on Decision and Control, CDC 2017
CountryAustralia
CityMelbourne
Period12/12/1712/15/17

Fingerprint

Directed graphs
Directed Graph
State feedback
Multi agent systems
Parallel algorithms
Consensus Problem
Topology
Availability
Spanning tree
State Feedback
Interconnection
Multi-agent Systems
Higher Order
Necessary Conditions
Dependent
Sufficient Conditions
Graph in graph theory
Integrator
Directed graph

All Science Journal Classification (ASJC) codes

  • Decision Sciences (miscellaneous)
  • Industrial and Manufacturing Engineering
  • Control and Optimization

Cite this

Abdessameud, A., & Tayebi, A. (2018). Consensus of heterogeneous multiple integrator agents on directed graphs. In 2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017 (pp. 3437-3442). (2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017; Vol. 2018-January). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC.2017.8264162
Abdessameud, Abdelkader ; Tayebi, Abdelhamid. / Consensus of heterogeneous multiple integrator agents on directed graphs. 2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017. Institute of Electrical and Electronics Engineers Inc., 2018. pp. 3437-3442 (2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017).
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Abdessameud, A & Tayebi, A 2018, Consensus of heterogeneous multiple integrator agents on directed graphs. in 2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017. 2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017, vol. 2018-January, Institute of Electrical and Electronics Engineers Inc., pp. 3437-3442, 56th IEEE Annual Conference on Decision and Control, CDC 2017, Melbourne, Australia, 12/12/17. https://doi.org/10.1109/CDC.2017.8264162

Consensus of heterogeneous multiple integrator agents on directed graphs. / Abdessameud, Abdelkader; Tayebi, Abdelhamid.

2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017. Institute of Electrical and Electronics Engineers Inc., 2018. p. 3437-3442 (2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017; Vol. 2018-January).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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AB - This paper considers the consensus problem of heterogeneous high-order multi-agent systems, described by multiple integrator dynamics with mixed order, under general directed graphs. We propose a state-feedback-based distributed consensus algorithm that achieves consensus without topology-dependent conditions. It is shown that consensus is reached under a necessary and sufficient condition of an interconnection graph having a spanning tree. As a result, the proposed approach relaxes some restrictive assumptions, commonly considered in the literature, on the availability of global information for all agents and on the type of information shared among agents.

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Abdessameud A, Tayebi A. Consensus of heterogeneous multiple integrator agents on directed graphs. In 2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017. Institute of Electrical and Electronics Engineers Inc. 2018. p. 3437-3442. (2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017). https://doi.org/10.1109/CDC.2017.8264162