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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
Alternative Titleconsensuscontrolwithaconstantgainfordiscretetimebinaryvaluedmultiagentsystemsbasedonaprojectedempiricalmeasuremethod
Wang Ting1; Hu Min1; Zhao Yanlong1
2019
Source PublicationIEEE-CAA JOURNAL OF AUTOMATICA SINICA
ISSN2329-9266
Volume6Issue:4Pages:1052-1059
AbstractThis 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.
Other AbstractThis 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.
KeywordCOORDINATION FLOCKING AGENTS LEADER Binary-valued observations consensus control constant gain convergence rate multi-agent systems projected empirical measure method
Indexed ByCSCD
Language英语
Funding Project[National Natural Science Foundation of China] ; [China Postdoctoral Science Foundation] ; [National Key Research and Development Program of China]
CSCD IDCSCD:6534428
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Document Type期刊论文
Identifierhttp://ir.amss.ac.cn/handle/2S8OKBNM/54969
Collection中国科学院数学与系统科学研究院
Affiliation1.中国科学院数学与系统科学研究院
2.中国科学院大学
Recommended Citation
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.
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