Redcho: robust exact dynamic consensus of high order

DOI10.1016/J.AUTOMATICA.2022.110320MaRDI QIDQ2139442zbMATH OpenOpenAlexFDO

Authors Rodrigo Aldana-López, Rosario Aragues, Carlos Sagues

Publication date 17 May 2022

Published in Automatica (Search for Journal in Brave)

Copyright license Creative Commons Attribution 4.0 International

Full work available at URL https://arxiv.org/abs/2204.12344

zbMATH Keywords

multi-agent systemsdynamic consensushigh order sliding modes

Mathematics Subject Classification ID

Sensitivity (robustness) (93B35) Variable structure systems (93B12) Multi-agent systems (93A16) Consensus (93D50)

Abstract: This article addresses the problem of average consensus in a multi-agent system when the desired consensus quantity is a time varying signal. Recently, the EDCHO protocol leveraged high order sliding modes to achieve exact consensus under a constrained set of initial conditions, limiting its applicability to static networks. In this work, we propose REDCHO, an extension of the previous protocol which is robust to mismatch in the initial conditions, making it suitable to use cases in which connection and disconnection of agents is possible. The convergence properties of the protocol are formally explored. Finally, the effectiveness and advantages of our proposal are shown with concrete simulation examples showing the benefits of REDCHO against other methods in the literature.

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Cited in

(1)

• EDCHO: high order exact dynamic consensus

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