Decentralized Discrete-Time Consensus Algorithms for Multi-agent Systems

In this paper, inspired by Vicsek's model, two decentralized heading consensus algorithms, WHCA and LBHCA, are proposed. It is proved that, under some well-known connectivity assumption, the WHCA can ensure almost global consensus of the headings except the only situation where they are balanced at the beginning. For the LBHCA, the global heading consensus is guaranteed under the same connectivity assumption. Simulation results are provided to justify the proposed algorithms.

[1]  L. Moreau,et al.  Stability of continuous-time distributed consensus algorithms , 2004, 2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601).

[2]  Richard M. Murray,et al.  Consensus problems in networks of agents with switching topology and time-delays , 2004, IEEE Transactions on Automatic Control.

[3]  Alain Sarlette,et al.  Synchronization and balancing on the N-torus , 2007, Syst. Control. Lett..

[4]  Naomi Ehrich Leonard,et al.  Stabilization of Planar Collective Motion With Limited Communication , 2008, IEEE Transactions on Automatic Control.

[5]  E.M. Atkins,et al.  A survey of consensus problems in multi-agent coordination , 2005, Proceedings of the 2005, American Control Conference, 2005..

[6]  V. Blondel,et al.  Convergence of different linear and non-linear Vicsek models , 2006 .

[7]  Randal W. Beard,et al.  Consensus seeking in multiagent systems under dynamically changing interaction topologies , 2005, IEEE Transactions on Automatic Control.

[8]  Lei Guo,et al.  Connectivity and Synchronization of Multi-agent Systems , 2006, 2006 Chinese Control Conference.

[9]  Luc Moreau,et al.  Stability of multiagent systems with time-dependent communication links , 2005, IEEE Transactions on Automatic Control.

[10]  A. S. Morse,et al.  Coordination of Groups of Mobile Autonomous Agents , 2004 .

[11]  Vicsek,et al.  Novel type of phase transition in a system of self-driven particles. , 1995, Physical review letters.

[12]  Ming Li,et al.  Soft Control on Collective Behavior of a Group of Autonomous Agents By a Shill Agent , 2006, J. Syst. Sci. Complex..

[13]  Zhong-Ping Jiang,et al.  On the Consensus of Dynamic Multi-agent Systems with Changing Topology , 2007, 2007 American Control Conference.

[14]  Huaiqing Wang,et al.  Multi-agent coordination using nearest neighbor rules: revisiting the Vicsek model , 2004, ArXiv.