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Multi-agent consensus by binary-valued communications of relative state
KTH, School of Engineering Sciences (SCI), Mathematics (Dept.), Mathematical Statistics.
KTH, School of Engineering Sciences (SCI), Mathematics (Dept.), Optimization and Systems Theory.ORCID iD: 0000-0003-0177-1993
2019 (English)In: Chinese Control Conference, CCC, IEEE Computer Society , 2019, p. 1672-1677Conference paper, Published paper (Refereed)
Abstract [en]

This paper studies an average consensus problem for multi-agent systems (MAS) with binary-valued communications of relative state between neighbors. A two-scale algorithm consisting of 'estimation' stage and 'control' stage is proposed for discrete-time MAS over directed graph. In the 'estimation' stage, the relative states between agents and neighbors are estimated with and without considering measurement noise. In 'control' stage, a distributed control protocol is designed based on the estimations of relative states to achieve average consensus. Convergence and convergence speed of the algorithm are analyzed theoretically under mild conditions. Finally, a numerical simulation is given to validate the developed results of this paper.

Place, publisher, year, edition, pages
IEEE Computer Society , 2019. p. 1672-1677
Keywords [en]
Average consensus, Binary-valued communication, Convergence, Convergence rate, Multi-agent systems, State estimation
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
URN: urn:nbn:se:kth:diva-268406DOI: 10.23919/ChiCC.2019.8865523Scopus ID: 2-s2.0-85074437557ISBN: 9789881563972 (print)OAI: oai:DiVA.org:kth-268406DiVA, id: diva2:1426827
Conference
38th Chinese Control Conference, CCC 2019, 27 July 2019 through 30 July 2019
Note

QC 20200427

Available from: 2020-04-27 Created: 2020-04-27 Last updated: 2020-04-27Bibliographically approved

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Wang, XimeiHu, Xiaoming

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