Consensus filter on networked single-integrator system

Author

Wang, Jianan

Author_Institution

Dept. of Aerosp. Eng., Mississippi State Univ., Starkville, MS, USA

fYear

2012

fDate

15-18 March 2012

Firstpage

1

Lastpage

8

Abstract

A novel consensus filter is addressed to solve the multi-agent cooperative problem in the presence of measurement noise, where single-integrator is considered as the model of the agent. Consensus filter is established by modifying the fundamental consensus algorithm to achieve not only the cooperation of state but the attenuation of noise. Initially, the low-pass property of this consensus filter is shown by a specific and fixed topology among the agents. Sequentially, the tracking stability to a dynamic reference is proven by the linear system theory and matrix theory. Due to the communication limit, switching topologies case is also considered. Finally, effectiveness of the proposed algorithm is verified by simulation results.

Keywords

absorption; linear systems; low-pass filters; multi-agent systems; consensus filter; fixed topology; fundamental consensus algorithm; linear system theory; low-pass property; matrix theory; measurement noise; multiagent cooperative problem; networked single-integrator system; noise attenuation; specific topology; switching topologies; tracking stability; Filtering algorithms; Filtering theory; Low pass filters; Network topology; Stability analysis; Switches; Topology;

fLanguage

English

Publisher

ieee

Conference_Titel

Southeastcon, 2012 Proceedings of IEEE

Conference_Location

Orlando, FL

ISSN

1091-0050

Print_ISBN

978-1-4673-1374-2

Type

conf

DOI

10.1109/SECon.2012.6196886

Filename

6196886