TY - JOUR
T1 - Consensus Controller for Heterogeneous Multi-Agent Systems Using Output Prediction
AU - Niu, Kaicheng
AU - Wardi, Yorai
AU - Abdallah, Chaouki T.
AU - Hayajneh, Muhammad
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2023
Y1 - 2023
N2 - This letter proposes a distributed consensus controller for a class of heterogeneous nonlinear multi-agent systems. The control law enacted at each agent is based on predicted outputs of itself and its neighboring agents. It implements a fluid-flow version of the Newton-Raphson method for solving equations, and this, together with the way the predictions are used, guarantees asymptotic consensus for a general class of systems defined by ordinary differential equations. The scope of the analysis includes heterogeneous systems whose agent-subsystems have different state-space models with different dimensions, but it requires that all the inputs and outputs of the agents' subsystems have the same dimension. Following a presentation of the consensus-control technique, we analyse its convergence and present simulation results for a heterogeneous nonlinear system.
AB - This letter proposes a distributed consensus controller for a class of heterogeneous nonlinear multi-agent systems. The control law enacted at each agent is based on predicted outputs of itself and its neighboring agents. It implements a fluid-flow version of the Newton-Raphson method for solving equations, and this, together with the way the predictions are used, guarantees asymptotic consensus for a general class of systems defined by ordinary differential equations. The scope of the analysis includes heterogeneous systems whose agent-subsystems have different state-space models with different dimensions, but it requires that all the inputs and outputs of the agents' subsystems have the same dimension. Following a presentation of the consensus-control technique, we analyse its convergence and present simulation results for a heterogeneous nonlinear system.
KW - Consensus
KW - multi-agent systems
KW - nonlinear systems
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U2 - 10.1109/LCSYS.2022.3217160
DO - 10.1109/LCSYS.2022.3217160
M3 - Article
AN - SCOPUS:85141505101
SN - 2475-1456
VL - 7
SP - 673
EP - 678
JO - IEEE Control Systems Letters
JF - IEEE Control Systems Letters
ER -