Multiagent systems with compasses

DOI10.1137/140982283MaRDI QIDQ2949986zbMATH OpenOpenAlexFDO

Authors Karl Henrik Johansson, Ziyang Meng, Guodong Shi

Publication date 5 October 2015

Published in SIAM Journal on Control and Optimization (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1308.0813

zbMATH Keywords

nonlinear systemscooperative-antagonistic networkshared reference direction

Mathematics Subject Classification ID

Nonlinear systems in control theory (93C10) Control/observation systems governed by ordinary differential equations (93C15) Asymptotic stability in control theory (93D20)

Abstract: This paper investigates agreement protocols over cooperative and cooperative--antagonistic multi-agent networks with coupled continuous-time nonlinear dynamics. To guarantee convergence for such systems, it is common in the literature to assume that the vector field of each agent is pointing inside the convex hull formed by the states of the agent and its neighbors, given that the relative states between each agent and its neighbors are available. This convexity condition is relaxed in this paper, as we show that it is enough that the vector field belongs to a strict tangent cone based on a local supporting hyperrectangle. The new condition has the natural physical interpretation of requiring shared reference directions in addition to the available local relative states. Such shared reference directions can be further interpreted as if each agent holds a magnetic compass indicating the orientations of a global frame. It is proven that the cooperative multi-agent system achieves exponential state agreement if and only if the time-varying interaction graph is uniformly jointly quasi-strongly connected. Cooperative--antagonistic multi-agent systems are also considered. For these systems, the relation has a negative sign for arcs corresponding to antagonistic interactions. State agreement may not be achieved, but instead it is shown that all the agents' states asymptotically converge, and their limits agree componentwise in absolute values if and in general only if the time-varying interaction graph is uniformly jointly strongly connected.

Recommendations

• Relaxed conditions for consensus in multi-agent coordination
• State Agreement for Continuous‐Time Coupled Nonlinear Systems
• Multi-consensus of nonlinearly networked multi-agent systems
• Consensus of adaptive multi-agent systems
• Global target aggregation and state agreement of nonlinear multi-agent systems with switching topologies

Cites work

• scientific article; zbMATH DE number 1600999 (Why is no real title available?)
• scientific article; zbMATH DE number 41285 (Why is no real title available?)
• scientific article; zbMATH DE number 1168330 (Why is no real title available?)
• scientific article; zbMATH DE number 2107361 (Why is no real title available?)
• Agreeing Asynchronously
• Consensus Problems in Networks of Agents With Switching Topology and Time-Delays
• Consensus Problems on Networks With Antagonistic Interactions
• Consensus and Cooperation in Networked Multi-Agent Systems
• Consensus seeking in multiagent systems under dynamically changing interaction topologies
• Convergence of Type-Symmetric and Cut-Balanced Consensus Seeking Systems
• Convergence results for the linear consensus problem under Markovian random graphs
• Convergence speed in distributed consensus and averaging
• Coordination of groups of mobile autonomous agents using nearest neighbor rules
• Distributed asynchronous deterministic and stochastic gradient optimization algorithms
• Flocking in Fixed and Switching Networks
• Global target aggregation and state agreement of nonlinear multi-agent systems with switching topologies
• Local Control Strategies for Groups of Mobile Autonomous Agents
• Networks, crowds and markets. Reasoning about a highly connected world.
• Nonlinear protocols for optimal distributed consensus in networks of dynamic agents
• Nonlinear systems.
• Reaching a Consensus in a Dynamically Changing Environment: Convergence Rates, Measurement Delays, and Asynchronous Events
• Robust Rendezvous for Mobile Autonomous Agents via Proximity Graphs in Arbitrary Dimensions
• Robust consensus for continuous-time multiagent dynamics
• Stability of multiagent systems with time-dependent communication links
• State Agreement for Continuous‐Time Coupled Nonlinear Systems
• The Asymptotic Consensus Problem on Convex Metric Spaces
• The Theory of Max-Min, with Applications
• Viability theory

Cited in

(5)

• State Agreement for Continuous‐Time Coupled Nonlinear Systems
• Rebels lead to the doctrine of the mean: a heterogeneous degroot model
• Spreading and Structural Balance on Signed Networks
• Finite-time median-related group consensus over directed networks
• Dynamics over signed networks

This page was built for publication: Multiagent systems with compasses

Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q2949986)