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RELAXED CONDITIONS FOR CONSENSUS IN MULTI-AGENT COORDINATION

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Abstract

This paper proposes relaxed suffient conditions for the consensus of multi-agent systems by the averaging protocols with time-varying system topology. Bidirectional information exchange between neighboring agents is considered and both the discrete-time and continuous-time consensus protocols are studied. It is shown that the consensus is reached if there exists an unbounded time sequence such that two agents who own the maximum and minimum states at each time instant in the sequence will be jointly connected at some future time. Further, this result is applied to the original nonlinear Vicsek model, and a sufficient condition for the heading consensus of the group with restricted initial conditions is obtained.

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Authors and Affiliations

  1. Department of Electrical and Computer Engineering, Polytechnic University, Six Metrotech Center, Brooklyn, NY, 11201, USA

    Qin Li & Zhongping Jiang

Authors
  1. Qin Li
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  2. Zhongping Jiang
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Correspondence to Qin Li.

Additional information

This work was supported in part by the National Science Foundation under Grant Nos. ECS-0093176 and DMS-0504462, and in part by the National Natural Science Foundation of China under Grant 60628302.

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Li, Q., Jiang, Z. RELAXED CONDITIONS FOR CONSENSUS IN MULTI-AGENT COORDINATION. J Syst Sci Complex 21, 347–361 (2008). https://doi.org/10.1007/s11424-008-9118-6

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  • DOI: https://doi.org/10.1007/s11424-008-9118-6

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