On the consensus of heterogeneous multi-agent systems: a decoupling approach

Gabriel Rodrigues de Campos (1) , Lara Briñon Arranz (1) , Alexandre Seuret (1) , Silviu-Iulian Niculescu (2, 3)

1 NECS - Networked Controlled Systems
2 L2S - Laboratoire des signaux et systèmes
3 DISCO - Dynamical Interconnected Systems in COmplex Environments

This article deals with consensus algorithms for heterogeneous multi-agent systems (MAS). A control strategy based on a consensus algorithm which is decoupled from the original systems is proposed. Consequently, its major advantage remains in the separation of the stability analysis of each subsystem and the distributed control algorithm. Through the paper, it is shown that our method allows using classical distributed consensus algorithms such as simple integrator consensus (with or without delay) and distributed consensus filter algorithms. Finally, some simulations supporting our theoretical results are presented, where the efficiency of the method is tested for completely arbitrary models.

Mots clés: Delay systems; Multi-agent systems; Heterogeneous agents; Consensus

Domaines: Automatique / Robotique

Gabriel Rodrigues de Campos, Lara Briñon Arranz, Alexandre Seuret, Silviu-Iulian Niculescu. On the consensus of heterogeneous multi-agent systems: a decoupling approach. NecSys 2012 - 3rd IFAC Workshop on Distributed Estimation and Control in Networked Systems, Sep 2012, Santa-Barbara, United States. pp.1-6, ⟨10.3182/20120914-2-US-4030.00026⟩. ⟨hal-00726264⟩