Reference : Nonlinear protocols for distributed consensus in directed networks of dynamic agents

	Document type :	Scientific journals : Article
	Discipline(s) :	Engineering, computing & technology : Electrical & electronics engineering
	To cite this reference:	http://hdl.handle.net/10993/19121

Title :	Nonlinear protocols for distributed consensus in directed networks of dynamic agents
Language :	English
Author, co-author :	Li, Yumei []
	Voos, Holger [University of Luxembourg > Faculty of Science, Technology and Communication (FSTC) > Engineering Research Unit > ; University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT)]
	Darouach, Mohamed []
Publication date :	2015
Journal title :	Journal of the Franklin Institute
Publisher :	Pergamon Press - An Imprint of Elsevier Science
Volume :	352
Issue/season :	9
Special issue title :	Synchronizability, Controllability and Observability of Networked Multi-Agent System
Pages :	3645-3669
Peer reviewed :	Yes (verified by ORBilu)
Audience :	International
ISSN :	0016-0032
Keywords :	[en] Nonlinear consensus protocols ; directed network ; multi-agent systems ; fixed topology ; switched topology
Abstract :	[en] This paper deals with the distributed consensus problem of multi-agent systems. While existing work mainly considers the design of linear protocols, we derive nonlinear protocols for directed networks of dynamic agents with fi xed and switched topologies, respectively. The obtained nonlinear protocols have the same effectiveness as the existing linear protocols, however they can satisfy the input constraints of real world physical systems, as well as the state value restrictions of agents, which ensure the smooth communication of the whole network and the correct data transmission among agents under the limited bandwidth. In contrast to most existing approaches that commonly use the Lyapunov function theory in order to prove the consensus problem, simple and effective mathematical methods are developed here for this purpose. Based on the equivalent in fi nitesimal functions and differentials as well as linear approximations as comparatively simple mathematical tools, we prove that the distributed consensus is asymptotically reachable and derive the group decision values. For balanced topology structures, these nonlinear protocols in particular guarantee that the agents asymptotically reach an average-consensus. Furthermore, the obtained protocols relax the constraints on the communication links among the agents. Finally, simulations comprising the vertical alignment maneuver of a team of unmanned aerial vehicles (UAVs) and the phase synchronization of three oscillators are studied, respectively. The simulation results underline that the developed nonlinear protocols are effective and feasible for distributed consensus in directed networks of dynamic multi-agent systems.
Research centres :	Interdisciplinary Centre for Security Reliability and Trust (SnT)
Funders :	Fonds National de la Recherche - FnR
Name of the research project :	CO11/IS/1206050 (SeSaNet)
Target :	Researchers ; Professionals ; Students ; Others
Permalink :	http://hdl.handle.net/10993/19121
FnR project :	FnR ; FNR1206050 > Holger Voos > SeSaNet > Integrated Security and Safety Engineering for Networked Control Systems > 15/06/2012 > 14/06/2015 > 2011

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