Consensus protocols for networked multiagent systems with relative position and neighboring velocity information

Gerardo De La Torre, Tansel Yucelen, Eric N. Johnson

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

2 Scopus citations

Abstract

The consensus problem appears frequently in the coordination of muItiagent systems in science and engineering and involves the agreement of networked agents upon certain quantities of interest. In this paper, we focus on a new consensus protocol for networked multiagent systems. The proposed control protocol consists of a standard term capturing relative position information and a new term capturing neighboring velocity information. In particular, the addition of the latter term results in an increase of the rate of system convergence while maintaining a fixed graph structure and without increasing the maximum eigenvalue of the graph Laplacian. Furthermore, in certain cases, it is shown that the maximum singular value of the graph Laplacian is not increased. This departs from the traditional view that the Fiedler eigenvalue, a function of graph structure, governors the system's rate of convergence. In addition, it is shown that a connected and undirected graph topology acts as a weighted complete graph topology with the addition of this latter term to a standard consensus protocol. A comparative numerical example is provided to demonstrate the advantages of this new consensus protocol.

Original languageEnglish (US)
Title of host publication2013 IEEE 52nd Annual Conference on Decision and Control, CDC 2013
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages811-816
Number of pages6
ISBN (Print)9781467357173
DOIs
StatePublished - Jan 1 2013
Event52nd IEEE Conference on Decision and Control, CDC 2013 - Florence, Italy
Duration: Dec 10 2013Dec 13 2013

Publication series

NameProceedings of the IEEE Conference on Decision and Control
ISSN (Print)0191-2216

Other

Other52nd IEEE Conference on Decision and Control, CDC 2013
CountryItaly
CityFlorence
Period12/10/1312/13/13

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization

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  • Cite this

    De La Torre, G., Yucelen, T., & Johnson, E. N. (2013). Consensus protocols for networked multiagent systems with relative position and neighboring velocity information. In 2013 IEEE 52nd Annual Conference on Decision and Control, CDC 2013 (pp. 811-816). [6759982] (Proceedings of the IEEE Conference on Decision and Control). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC.2013.6759982