Error-transformation-based consensus algorithms of multi-agent systems: connectivity-preserving approach
- Authors
- Yoo, Sung Jin
- Issue Date
- Jan-2018
- Publisher
- TAYLOR & FRANCIS LTD
- Keywords
- Error transformation; connectivity-preserving consensus; limited communication ranges
- Citation
- INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE, v.49, no.4, pp 692 - 700
- Pages
- 9
- Journal Title
- INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE
- Volume
- 49
- Number
- 4
- Start Page
- 692
- End Page
- 700
- URI
- https://scholarworks.bwise.kr/cau/handle/2019.sw.cau/1440
- DOI
- 10.1080/00207721.2018.1424968
- ISSN
- 0020-7721
1464-5319
- Abstract
- This paper investigates distributed connectivity-preserving consensus problems of networked multi-agent systems with limited communication ranges. Compared with existing literature, a main contribution of this paper is to present a new nonlinear transformation approach of consensus errors for preserving the initial interaction patterns of multi-agent systems. Both the consensus and the connectivity preservation can be achieved by using one transformed error function. Based on the proposed nonlinear error transformation, we derive distributed connectivity-preserving consensus algorithms for single-integrator dynamics, double-integrator dynamics and second-order nonlinear systems. The asymptotic stability of consensus errors and the connectivity preservation among agents are established through Lyapunov stability analysis.
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