Signed-average consensus for networks of agents: a nonlinear fixed-time convergence protocol

This paper addresses the consensus problem of multi-agent systems where the interactions between agents are not only cooperative but also antagonistic. A distributed nonlinear protocol is proposed to guarantee the agents to reach agreement bipartitely regarding a signed-average quantity that depends on both the initial states of agents and the topology structures of multi-agent systems. Moreover, this signed-average consensus can be achieved within a fixed settling time which is not dependent upon the initial states of agents but can be estimated by the design parameters of the presented protocol. Numerical simulations are performed to illustrate the fixed-time convergence performance of the established signed-average consensus results.

[1]  Zhihong Man,et al.  Robust Finite-Time Consensus Tracking Algorithm for Multirobot Systems , 2009, IEEE/ASME Transactions on Mechatronics.

[2]  John N. Tsitsiklis,et al.  Convergence Speed in Distributed Consensus and Averaging , 2009, SIAM J. Control. Optim..

[3]  Wenwu Yu,et al.  An Overview of Recent Progress in the Study of Distributed Multi-Agent Coordination , 2012, IEEE Transactions on Industrial Informatics.

[4]  Junping Du,et al.  Nonlinear finite-time bipartite consensus protocol for multi-agent systems associated with signed graphs , 2015, Int. J. Control.

[5]  Luca Schenato,et al.  Average TimeSynch: A consensus-based protocol for clock synchronization in wireless sensor networks , 2011, Autom..

[6]  Sergey Parsegov,et al.  Fixed-time consensus algorithm for multi-agent systems with integrator dynamics , 2013 .

[7]  Deyuan Meng,et al.  Fixed-time consensus for multi-agent systems under directed and switching interaction topology , 2014, 2014 American Control Conference.

[8]  Jie Lin,et al.  Coordination of groups of mobile autonomous agents using nearest neighbor rules , 2003, IEEE Trans. Autom. Control..

[9]  Maria Elena Valcher,et al.  On the consensus and bipartite consensus in high-order multi-agent dynamical systems with antagonistic interactions , 2014, Syst. Control. Lett..

[10]  Xiao Feng,et al.  Reaching Agreement in Finite Time via Continuous Local State Feedback , 2006, 2007 Chinese Control Conference.

[11]  Deyuan Meng,et al.  Robust Consensus Algorithms for Multiscale Coordination Control of Multivehicle Systems With Disturbances , 2016, IEEE Transactions on Industrial Electronics.

[12]  Yiguang Hong,et al.  Finite-Time Consensus for Multi-Agent Networks with Second-Order Agent Dynamics , 2008 .

[13]  Sanjay P. Bhat,et al.  Finite-Time Semistability and Consensus for Nonlinear Dynamical Networks , 2008, IEEE Transactions on Automatic Control.

[14]  John N. Tsitsiklis,et al.  On Distributed Averaging Algorithms and Quantization Effects , 2008, IEEE Trans. Autom. Control..

[15]  Andrey Polyakov,et al.  Nonlinear fixed-time control protocol for uniform allocation of agents on a segment , 2012, 2012 IEEE 51st IEEE Conference on Decision and Control (CDC).

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

[17]  Zongyu Zuo,et al.  A new class of finite-time nonlinear consensus protocols for multi-agent systems , 2014, Int. J. Control.

[18]  Zongyu Zuo,et al.  Nonsingular fixed-time consensus tracking for second-order multi-agent networks , 2015, Autom..

[19]  Deyuan Meng,et al.  Iterative learning approaches to design finite-time consensus protocols for multi-agent systems , 2012, Syst. Control. Lett..

[20]  Junping Du,et al.  Finite-Time Consensus for Multiagent Systems With Cooperative and Antagonistic Interactions , 2016, IEEE Transactions on Neural Networks and Learning Systems.

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

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

[23]  Y. Jia,et al.  Fixed-time consensus protocols for multi-agent systems with linear and nonlinear state measurements , 2015 .

[24]  Claudio Altafini,et al.  Consensus Problems on Networks With Antagonistic Interactions , 2013, IEEE Transactions on Automatic Control.

[25]  Xiao Fan Wang,et al.  Fast consensus seeking in multi-agent systems with time delay , 2013, Syst. Control. Lett..

[26]  Shihua Li,et al.  Finite-time consensus algorithm for multi-agent systems with double-integrator dynamics , 2011, Autom..

[27]  Yingmin Jia,et al.  Decentralized adaptive attitude synchronization control for spacecraft formation using nonsingular fast terminal sliding mode , 2014 .

[28]  Zongyu Zuo,et al.  Distributed robust finite-time nonlinear consensus protocols for multi-agent systems , 2016, Int. J. Syst. Sci..

[29]  Frank L. Lewis,et al.  Finite-time distributed consensus via binary control protocols , 2011, Autom..

[30]  Long Wang,et al.  Finite-Time Consensus Problems for Networks of Dynamic Agents , 2007, IEEE Transactions on Automatic Control.

[31]  Yufeng Qian,et al.  Consensus of second-order multi-agent systems with nonlinear dynamics and time delay , 2014, Nonlinear Dynamics.

[32]  Z. Zuo,et al.  Non-singular fixed-time terminal sliding mode control of non-linear systems , 2015 .