Consensus of networked multi-agent systems via the networked predictive control and relative outputs

Abstract This paper investigates the consensus problem of discrete-time networked multi-agent systems (DNMASs) with a directed topology and communication delay, where exact state and output of each agent are not measured, and yet output differences between agent and its neighboring ones (relative outputs for short) are available. Based on the networked predictive control scheme and relative output data, a novel protocol is proposed to overcome the effect of delay on the consensus actively. Moreover, for the DNMASs with a fixed topology and constant communication delay, delay-independent necessary and/or sufficient conditions of achieving consensus are obtained, which reveal that the essence of dominating the consensus is agents' dynamics and communication topology. Simulation results further demonstrate the effectiveness of theoretical results.

[1]  Daniel W. C. Ho,et al.  Partial-Information-Based Distributed Filtering in Two-Targets Tracking Sensor Networks , 2012, IEEE Transactions on Circuits and Systems I: Regular Papers.

[2]  Alessandro Chiuso,et al.  A PI Consensus Controller for Networked Clocks Synchronization , 2008 .

[3]  Wei Xing Zheng,et al.  Second-order consensus for multi-agent systems with switching topology and communication delay , 2011, Syst. Control. Lett..

[4]  Fei Liu,et al.  Stationary consensus of heterogeneous multi-agent systems with bounded communication delays , 2011, Autom..

[5]  Wen-an Zhang,et al.  H∞ control for network-based systems with time-varying delay and packet disordering , 2011, J. Frankl. Inst..

[6]  Alexander S. Poznyak,et al.  On the hybrid LQ-based control design for linear networked systems , 2010, J. Frankl. Inst..

[7]  Francesco Tedesco,et al.  Constrained load/frequency control problems in networked multi-area power systems , 2011, J. Frankl. Inst..

[8]  Yuanqing Xia,et al.  Networked Predictive Control of Systems With Random Network Delays in Both Forward and Feedback Channels , 2007, IEEE Transactions on Industrial Electronics.

[9]  Guang-Ren Duan,et al.  Consensus of networked multi-agent systems with communication delays based on the networked predictive control scheme , 2012, Int. J. Control.

[10]  Fu-Cai Wang,et al.  Consensus of second-order multi-agent systems with nonsymmetric interconnection and heterogeneous delays , 2011, Int. J. Autom. Comput..

[11]  Alois Knoll,et al.  Distributed contract networks of sensor agents with adaptive reconfiguration: modelling, simulation, implementation and experiments , 2001, J. Frankl. Inst..

[12]  Hongjiu Yang,et al.  Robust H∞ filtering for nonlinear systems with interval time-varying delays , 2010 .

[13]  Maarouf Saad,et al.  Cascade design for formation control of nonholonomic systems in chained form , 2011, J. Frankl. Inst..

[14]  Wei Xing Zheng,et al.  Consensus of multiple second-order vehicles with a time-varying reference signal under directed topology , 2011, Autom..

[15]  Jürgen Kurths,et al.  Consensus over directed static networks with arbitrary finite communication delays. , 2009, Physical review. E, Statistical, nonlinear, and soft matter physics.

[16]  Chong Tan,et al.  Consensus of networked multi-agent systems based on the networked predictive control scheme , 2011, 2011 2nd International Conference on Intelligent Control and Information Processing.

[17]  Héctor Benítez-Pérez,et al.  SUPERVISORY FUZZY CONTROL FOR NETWORKED CONTROL SYSTEMS , 2009 .

[18]  Zehui Mao,et al.  Observer-based fault-tolerant control for a class of networked control systems with transfer delays , 2011, J. Frankl. Inst..

[19]  Huijun Gao,et al.  Network-based feedback control for systems with mixed delays based on quantization and dropout compensation , 2011, Autom..

[20]  Zheng-Zhi Han,et al.  Adaptive predictive functional control for networked control systems with random delays , 2011, Int. J. Autom. Comput..

[21]  Guo-Ping Liu,et al.  Predictive Controller Design of Networked Systems With Communication Delays and Data Loss , 2010, IEEE Transactions on Circuits and Systems II: Express Briefs.

[22]  Guanrong Chen,et al.  Consensus of Discrete-Time Linear Multi-Agent Systems with Observer-Type Protocols , 2011, ArXiv.

[23]  Dehui Sun,et al.  Fault tolerant control for networked control systems with packet loss and time delay , 2011, Int. J. Autom. Comput..

[24]  Keyou You,et al.  Coordination of discrete‐time multi‐agent systems via relative output feedback , 2011 .

[25]  Ligang Wu,et al.  A New Approach to Stability Analysis and Stabilization of Discrete-Time T-S Fuzzy Time-Varying Delay Systems , 2011, IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics).