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.
Type de document :
Communication dans un congrès
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
Contributeur : Alexandre Seuret <>
Soumis le : mercredi 29 août 2012 - 14:47:14
Dernière modification le : jeudi 10 décembre 2015 - 01:06:09
Document(s) archivé(s) le : vendredi 30 novembre 2012 - 03:35:14

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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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