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Consensus Protocol for Multiagent Systems With Undirected Topologies and Binary-Valued Communications
Zhao, Yanlong1,2; Wang, Ting1,2; Bi, Wenjian3
AbstractThis paper studies the consensus of multiagent systems with binary-valued communication. We consider a group of agents on an undirected graph with a fixed topology, differing from most existing work, the information each agent gets from its neighbors are binary-valued measurements with stochastic noises. A two-time-scale protocol that alternates estimation and control is constructed: Each agent in the system estimates the states of its neighbors' based on the binary-valued measurements for a dwelt time, during which every agent's state will keep constant; Based on the estimations of its neighbors' states and its own state, each agent designs its own control, by which the state will be updated and then repeats the process of estimation alternating with control. For the state estimation, we propose an identification algorithm without truncation, which is analyzed to be convergent and the convergence rate is given. By the two-time-scale protocol, the system is shown to achieve weak consensus and mean square consensus by using a stochastic Lyapunov analysis and the consensus speed is given. Simulations are given with different holding time, which are consistent with the theoretical results.
KeywordBinary-valued communication consensus convergence convergence rate identification method without truncation multiagent system two-time-scale protocol
Funding ProjectNational Key Research and Development Program of China[2016YFB0901902] ; National Natural Science Foundation of China[61622309] ; National Key Basic Research Program of China (973 Program)[2014CB845301]
WOS Research AreaAutomation & Control Systems ; Engineering
WOS SubjectAutomation & Control Systems ; Engineering, Electrical & Electronic
WOS IDWOS:000454251900014
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Document Type期刊论文
Corresponding AuthorZhao, Yanlong
Affiliation1.Chinese Acad Sci, Acad Math & Syst Sci, Inst Syst Sci, Key Lab Syst & Control, Beijing 100190, Peoples R China
2.Univ Chinese Acad Sci, Sch Math Sci, Beijing 100149, Peoples R China
3.St Jude Childrens Res Hosp, Dept Biostat, 332 N Lauderdale St, Memphis, TN 38105 USA
Recommended Citation
GB/T 7714
Zhao, Yanlong,Wang, Ting,Bi, Wenjian. Consensus Protocol for Multiagent Systems With Undirected Topologies and Binary-Valued Communications[J]. IEEE TRANSACTIONS ON AUTOMATIC CONTROL,2019,64(1):206-221.
APA Zhao, Yanlong,Wang, Ting,&Bi, Wenjian.(2019).Consensus Protocol for Multiagent Systems With Undirected Topologies and Binary-Valued Communications.IEEE TRANSACTIONS ON AUTOMATIC CONTROL,64(1),206-221.
MLA Zhao, Yanlong,et al."Consensus Protocol for Multiagent Systems With Undirected Topologies and Binary-Valued Communications".IEEE TRANSACTIONS ON AUTOMATIC CONTROL 64.1(2019):206-221.
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