Asynchronous Distributed Algorithms for Heading Consensus of Multi-Agent Systems with Communication Delay

In this paper, we propose two asynchronous distributed protocols for the heading consensus of a multi‐agent group which cannot access a global coordinate system and a global time. Both the leaderless and leader‐following cases are addressed, and inter‐agent communication delay is taken into account....

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Published in:Asian journal of control Vol. 15; no. 2; pp. 430 - 443
Main Authors: Li, Qin, Jiang, Zhong-Ping
Format: Journal Article
Language:English
Published: Hoboken Blackwell Publishing Ltd 01.03.2013
Wiley Subscription Services, Inc
Subjects:
Algorithms
asynchronous algorithms
Communication
Control systems
heading consensus
Multi-agent systems
ISSN:1561-8625, 1934-6093
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Abstract In this paper, we propose two asynchronous distributed protocols for the heading consensus of a multi‐agent group which cannot access a global coordinate system and a global time. Both the leaderless and leader‐following cases are addressed, and inter‐agent communication delay is taken into account. It is proved, under some standard connectivity assumptions, that our leaderless algorithm ensures the heading consensus provided the initial headings are not balanced; and the leader‐based algorithm guarantees the global heading consensus.
AbstractList In this paper, we propose two asynchronous distributed protocols for the heading consensus of a multi‐agent group which cannot access a global coordinate system and a global time. Both the leaderless and leader‐following cases are addressed, and inter‐agent communication delay is taken into account. It is proved, under some standard connectivity assumptions, that our leaderless algorithm ensures the heading consensus provided the initial headings are not balanced; and the leader‐based algorithm guarantees the global heading consensus.
In this paper, we propose two asynchronous distributed protocols for the heading consensus of a multi-agent group which cannot access a global coordinate system and a global time. Both the leaderless and leader-following cases are addressed, and inter-agent communication delay is taken into account. It is proved, under some standard connectivity assumptions, that our leaderless algorithm ensures the heading consensus provided the initial headings are not balanced; and the leader-based algorithm guarantees the global heading consensus. [PUBLICATION ABSTRACT]
Author Jiang, Zhong-Ping
Li, Qin
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  givenname: Zhong-Ping
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– reference: Liu, Y. and Y. M. Jia, "Adaptive consensus protocol for networks of multiple agents with nonlinear dynamics using neural networks," Asian J. Control, Vol. 15, No. 6, pp. 1-13 (2013).
– reference: Qin, J., W. Zheng, and H. Gao, "Sampled-data consensus for multiple agents with discrete second-order dynamics," Proc. IEEE Conf. Decis. Control, pp. 1391-1396 (2010).
– reference: Jiang, F. C., G. M. Xie, L. Wang, and X. J. Chen, "The χ-consensus problem of high-order multiagent systems with fixed and switching topologies," Asian J. Control, Vol. 10, No. 2, pp. 246-253 (2008).
– reference: Hayakawa, T., T. Matsuzawa, and S. Hara, "Formation control of multi-agent systems with sampled information," Proc. IEEE Conf. Decis. Control, pp. 4333-4338 (2006).
– reference: Mehyar, M., D. Spanos, J. Pongsajapan, S. H. Low, and R. M. Murray, "Asynchronous distributed averaging on communication networks," IEEE Trans. Networking, Vol. 15, pp. 512-520 (2007).
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Snippet In this paper, we propose two asynchronous distributed protocols for the heading consensus of a multi‐agent group which cannot access a global coordinate...
In this paper, we propose two asynchronous distributed protocols for the heading consensus of a multi-agent group which cannot access a global coordinate...
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SubjectTerms Algorithms
asynchronous algorithms
Communication
Control systems
heading consensus
Multi-agent systems
Title Asynchronous Distributed Algorithms for Heading Consensus of Multi-Agent Systems with Communication Delay
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Volume 15
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