First-Order Average Consensus for Cooperative Control Problems Using Novel Weighting Strategies

被引：3
|
作者：
Mirali, Furugh [1 ]
Gonzalez, Antonio Mendez [1 ]
Werner, Herbert [1 ]
机构：
[1] Hamburg Univ Technol, Inst Control Syst, Hamburg, Germany
来源：
IFAC PAPERSONLINE | 2017年 / 50卷 / 01期
关键词：
Multi-agent systems; average consensus; distributed; networks; cooperative control; SYSTEMS;
D O I：
10.1016/j.ifacol.2017.08.1865
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper we show how average consensus can be guaranteed in cooperative control schemes for multi-agent systems, even when normalised or weighted Laplacians are used. First we present weighting strategies for improving the performance that can be applied in a distributed manner (only local information is used), based on a recently proposed importance matrix. Then we modify the first-order consensus protocol, such that average consensus is guaranteed. It is then shown how this scheme can be used to improve the performance of cooperative control schemes. For this purpose, the effect of a formation reference on the consensus states is explicitly stated. A simulation result with second order LTI agent models illustrates the proposed approach. (C) 2017, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.
引用
收藏
页码：14302 / 14307
页数：6
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