DocumentCode :
3425107
Title :
Improved consensus algorithms using memory effects
Author :
De Campos, Gabriel Rodrigues ; Seuret, Alexandre
Author_Institution :
Autom. Control Dept., GIPSA-Lab., Grenoble, France
fYear :
2011
fDate :
12-15 Dec. 2011
Firstpage :
982
Lastpage :
987
Abstract :
This paper deals with simple integrator consensus problems. The objective is the design of an improved consensus algorithm for continuous-time multi-agent systems using memory effects. The novel algorithm proposes to sample, in an appropriate manner, part of the multi-agent systems information such that the algorithm converges, assuming that at each instant, agent´s control laws will also consider the sampled past information of its neighbors. Stability conditions expressed in terms of LMI´s and based on algebraic communication matrix structure are provided. The efficiency of the method is tested for different network communication schemes.
Keywords :
continuous time systems; linear matrix inequalities; multi-agent systems; multi-robot systems; networked control systems; stability; LMI; agent control laws; algebraic communication matrix structure; consensus algorithms design; continuous-time multiagent systems; integrator consensus problems; memory effects; network communication schemes; stability conditions; Algorithm design and analysis; Convergence; Delay; Eigenvalues and eigenfunctions; Laplace equations; Stability analysis; Symmetric matrices;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Decision and Control and European Control Conference (CDC-ECC), 2011 50th IEEE Conference on
Conference_Location :
Orlando, FL
ISSN :
0743-1546
Print_ISBN :
978-1-61284-800-6
Electronic_ISBN :
0743-1546
Type :
conf
DOI :
10.1109/CDC.2011.6160399
Filename :
6160399
Link To Document :
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