Extended Consensus Algorithms

An extension of the linear consensus protocol for agents moving in the plane is considered. For single integrator agents the use of a vector perpendicular to the standard consensus feedback leads to a large family of trajectories. If the new perpendicular term is applied only sustained oscillations...

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Main Author: van de Hoef, Sebastian
Format: Others
Language:English
Published: KTH, Reglerteknik 2013
Online Access:http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-125809
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spelling ndltd-UPSALLA1-oai-DiVA.org-kth-1258092013-08-28T03:57:55ZExtended Consensus Algorithmsengvan de Hoef, SebastianKTH, Reglerteknik2013An extension of the linear consensus protocol for agents moving in the plane is considered. For single integrator agents the use of a vector perpendicular to the standard consensus feedback leads to a large family of trajectories. If the new perpendicular term is applied only sustained oscillations are facilitated. For special congurations the form of the system trajectories is given in form of eigenvalues and {vectors of the system matrix. A proof is given that this additional term does not eect stability. On the other hand it is motivated that robustness against discrete implementation and switching topologies can be decreased. The control strategy is also applied to agents with double integrator dynamics. Stability can be archived with suciently high velocity feedback and the eect of this feedback on the system performance is further discussed. Using the results for single integrators a self{triggered consensus control strategy is proposed based on the assumption of bounded input magnitude of the other agents. Additional communication of the actual input leads to asymptotic convergence. By applying similar reasoning it is shown how local controllers at the agents can avoid circular regions in state{space while moving towards consensus. Student thesisinfo:eu-repo/semantics/bachelorThesistexthttp://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-125809EES Examensarbete / Master Thesis ; XR-EE-RT 2013:012application/pdfinfo:eu-repo/semantics/openAccess
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language English
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description An extension of the linear consensus protocol for agents moving in the plane is considered. For single integrator agents the use of a vector perpendicular to the standard consensus feedback leads to a large family of trajectories. If the new perpendicular term is applied only sustained oscillations are facilitated. For special congurations the form of the system trajectories is given in form of eigenvalues and {vectors of the system matrix. A proof is given that this additional term does not eect stability. On the other hand it is motivated that robustness against discrete implementation and switching topologies can be decreased. The control strategy is also applied to agents with double integrator dynamics. Stability can be archived with suciently high velocity feedback and the eect of this feedback on the system performance is further discussed. Using the results for single integrators a self{triggered consensus control strategy is proposed based on the assumption of bounded input magnitude of the other agents. Additional communication of the actual input leads to asymptotic convergence. By applying similar reasoning it is shown how local controllers at the agents can avoid circular regions in state{space while moving towards consensus.
author van de Hoef, Sebastian
spellingShingle van de Hoef, Sebastian
Extended Consensus Algorithms
author_facet van de Hoef, Sebastian
author_sort van de Hoef, Sebastian
title Extended Consensus Algorithms
title_short Extended Consensus Algorithms
title_full Extended Consensus Algorithms
title_fullStr Extended Consensus Algorithms
title_full_unstemmed Extended Consensus Algorithms
title_sort extended consensus algorithms
publisher KTH, Reglerteknik
publishDate 2013
url http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-125809
work_keys_str_mv AT vandehoefsebastian extendedconsensusalgorithms
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