Consensus Control With a Constant Gain for Discrete-time Binary-valued Multi-agent Systems Based on a Projected Empirical Measure Method

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	Consensus Control With a Constant Gain for Discrete-time Binary-valued Multi-agent Systems Based on a Projected Empirical Measure Method
其他题名	consensuscontrolwithaconstantgainfordiscretetimebinaryvaluedmultiagentsystemsbasedonaprojectedempiricalmeasuremethod
	Wang Ting 1; Hu Min 1; Zhao Yanlong 1
	2019
发表期刊	IEEE-CAA JOURNAL OF AUTOMATICA SINICA
ISSN	2329-9266
卷号	6 期号:4 页码:1052-1059
摘要	This paper studies the consensus control of multi-agent systems with binary-valued observations. An algorithm alternating estimation and control is proposed. Each agent estimates the states of its neighbors based on a projected empirical measure method for a holding time. Based on the estimates, each agent designs the consensus control with a constant gain at some skipping time. The states of the system are updated by the designed control, and the estimation and control design will be repeated. For the estimation, the projected empirical measure method is proposed for the binary-valued observations. The algorithm can ensure the uniform boundedness of the estimates and the mean square error of the estimation is proved to be at the order of the reciprocal of the holding time (the same order as that in the case of accurate outputs). For the consensus control, a constant gain is designed instead of the stochastic approximation based gain in the existing literature for binary-valued observations. And, there is no need to make modification for control since the uniform boundedness of the estimates ensures the uniform boundedness of the agents' states. Finally, the systems updated by the designed control are proved to achieve consensus and the consensus speed is faster than that in the existing literature. Simulations are given to demonstrate the theoretical results.
其他摘要	This paper studies the consensus control of multiagent systems with binary-valued observations. An algorithm alternating estimation and control is proposed. Each agent estimates the states of its neighbors based on a projected empirical measure method for a holding time. Based on the estimates, each agent designs the consensus control with a constant gain at some skipping time. The states of the system are updated by the designed control, and the estimation and control design will be repeated. For the estimation, the projected empirical measure method is proposed for the binary-valued observations. The algorithm can ensure the uniform boundedness of the estimates and the mean square error of the estimation is proved to be at the order of the reciprocal of the holding time (the same order as that in the case of accurate outputs). For the consensus control, a constant gain is designed instead of the stochastic approximation based gain in the existing literature for binary-valued observations. And, there is no need to make modification for control since the uniform boundedness of the estimates ensures the uniform boundedness of the agents' states. Finally, the systems updated by the designed control are proved to achieve consensus and the consensus speed is faster than that in the existing literature. Simulations are given to demonstrate the theoretical results.
关键词	COORDINATION FLOCKING AGENTS LEADER Binary-valued observations consensus control constant gain convergence rate multi-agent systems projected empirical measure method
收录类别	CSCD
语种	英语
资助项目	[National Natural Science Foundation of China] ; [China Postdoctoral Science Foundation] ; [National Key Research and Development Program of China]
CSCD记录号	CSCD:6534428
引用统计
文献类型	期刊论文
条目标识符	http://ir.amss.ac.cn/handle/2S8OKBNM/54969
专题	中国科学院数学与系统科学研究院
作者单位	1.中国科学院数学与系统科学研究院 2.中国科学院大学
推荐引用方式 GB/T 7714	Wang Ting,Hu Min,Zhao Yanlong. Consensus Control With a Constant Gain for Discrete-time Binary-valued Multi-agent Systems Based on a Projected Empirical Measure Method[J]. IEEE-CAA JOURNAL OF AUTOMATICA SINICA,2019,6(4):1052-1059.
APA	Wang Ting,Hu Min,&Zhao Yanlong.(2019).Consensus Control With a Constant Gain for Discrete-time Binary-valued Multi-agent Systems Based on a Projected Empirical Measure Method.IEEE-CAA JOURNAL OF AUTOMATICA SINICA,6(4),1052-1059.
MLA	Wang Ting,et al."Consensus Control With a Constant Gain for Discrete-time Binary-valued Multi-agent Systems Based on a Projected Empirical Measure Method".IEEE-CAA JOURNAL OF AUTOMATICA SINICA 6.4(2019):1052-1059.