Group Consensus for Heterogeneous Multi-Agent Systems With Sampled and Quantized Data Under Directed Communication Topology
| Autor: | Xiaobo Li, Weisheng Chen, Abdulaziz M. El-Tamimi, Emad Abouel Nasr, Zhiwu Li |
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| Rok vydání: | 2019 |
| Předmět: |
0209 industrial biotechnology
General Computer Science Computer science Group (mathematics) Multi-agent system General Engineering Topology (electrical circuits) Sampled data 02 engineering and technology Topology Zero (linguistics) Computer Science::Multiagent Systems heterogeneous multi-agent systems (HMAS) group consensus 020901 industrial engineering & automation Consensus Computer Science::Systems and Control 0202 electrical engineering electronic engineering information engineering 020201 artificial intelligence & image processing General Materials Science quantization lcsh:Electrical engineering. Electronics. Nuclear engineering lcsh:TK1-9971 Protocol (object-oriented programming) |
| Zdroj: | IEEE Access, Vol 7, Pp 48318-48327 (2019) |
| ISSN: | 2169-3536 |
| Popis: | For a sampled-data heterogeneous multi-agent system (HMAS), this paper studies the group consensus problem under a directed topology, where the model of the HMAS is described by double integrators and single integrators. We design two group consensus protocols under different communication conditions. A sufficient condition is reported to guarantee that an HMAS can achieve group consensus asymptotically. Meanwhile, the final group consensus values of different groups are given. Furthermore, due to the bandwidth constraint existing in communication, the quantized group consensus is investigated. We also obtain a sufficient quantized group consensus condition. It is found that an HMAS can reach group consensus asymptotically under our protocol and the consensus errors almost converge to zero when the quantized errors tend to zero. Finally, this paper gives some simulation examples to show the validity of the theoretical analysis. |
| Databáze: | OpenAIRE |
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