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

Gabriel Rodrigues de Campos 1 Lara Brinon Arranz 1 Alexandre Seuret 1 Silviu-Iulian Niculescu 2
1 NECS - Networked Controlled Systems
Inria Grenoble - Rhône-Alpes, GIPSA-DA - Département Automatique
2 Division Systèmes
L2S - Laboratoire des signaux et systèmes
Abstract : 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.
Document type :
Conference papers
3rd IFAC Workshop on Distributed Estimation and Control in Networked Systems (NecSys'12), Sep 2012, Santa-Barbara, United States. pp.1-6, 2012


https://hal.archives-ouvertes.fr/hal-00726264
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Submitted on : Wednesday, August 29, 2012 - 2:47:14 PM
Last modification on : Thursday, December 10, 2015 - 1:06:09 AM
Document(s) archivé(s) le : Friday, November 30, 2012 - 3:35:14 AM

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Gabriel Rodrigues de Campos, Lara Brinon Arranz, Alexandre Seuret, Silviu-Iulian Niculescu. On the consensus of heterogeneous multi-agent systems: a decoupling approach. 3rd IFAC Workshop on Distributed Estimation and Control in Networked Systems (NecSys'12), Sep 2012, Santa-Barbara, United States. pp.1-6, 2012. <hal-00726264>

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