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Inspired by potential application in power systems and a fully distributed primal-dual method, we investigate how a novel distributed optimization algorithm can be used to solve the dispath response problem in power systems with a distributed manner, whose main target is to minimize the generation cost of the whole network. The problem we study here can be formulated as a kind of optimization problem,...
This paper studies the fully-distributed consensus problem for multi-agent systems with unknown dynamics and bounded external disturbances. The interaction topology of the multi-agent system is assumed to contain a directed spanning tree. Based on adaptive gains, we present the fully-distributed consensus protocol which can obtain consensus without using any global information. The simulation examples...
We consider a large system populated by n anonymous nodes that communicate through asynchronous and pair-wise interactions. The aim of these interactions is for each node to converge toward a global property of the system, that depends on the initial state of each node. In this paper we focus on both the counting and proportion problems. We show that for any δ ∊ (0, 1), the number of interactions...
Aggregation protocols allow for distributed lightweight computations deployed on ad-hoc networks in a peer-to-peer fashion. Due to reliance on wireless technology, the communication medium is often hostile which makes such protocols susceptible to correctness and performance issues. In this paper, we study the behavior of aggregation protocols when subject to communication failures: message loss,...
In this paper, we investigate distributed consensus problems for multiple miniature aerial vehicles (MAVs) with nonlinear dynamics and uncertainty. We develop distributed consensus protocol to solve regulation synchronization problem for leaderless MAVs with directed interaction topology. Adaptive control algorithms are used locally for each vehicle to deal with nonlinear dynamics and uncertainty...
The Network Function Placement (NFP) problem involves placing Virtual Network Functions (VNFs) in a network in order to meet the Service Function Chain (SFC) requirements of the flows through the network. Simultaneously, the usage of network resources by the VNF instances must be optimized. Prior work primarily treated this as a constraint satisfaction problem, using linear programming to find optimal...
In this paper, we consider the privacy preserving problem in an agreement network under interception attacks. First, we introduce a consensus protocol with privacy preserving, where each node hides their initial states into a set of random sequences, and then injects the sequences into the process of consensus. Second, we assume that an attacker with limited power can intercept the data transmitted...
In this paper, we address the finite-time tracking consensus control problem for nonlinear multi-agent systems under no-cycle communication graph. Unlike most existing works of finite-time consensus, we focus on nonlinear multi-agent systems with lower triangular subsystems. Based on the local cooperative information among neighboring agents, we propose a tracking consensus protocol ensuring that...
This paper proposes a distributed hierarchical control strategy for cooperative braking control of connected vehicle platoon with a focus on the car-following interactions between vehicles. To this end, a hierarchical control framework including the leader layer and follower layer is first proposed to illustrate the cooperative mechanism. Then, a distributed hierarchical control strategy is designed...
Finite-time consensus of heterogeneous multi-agent system (MAS) with external disturbances is investigated in this paper. Distributed control algorithm is designed for the agents described by leaderless MAS. It can be shown that the state errors of any two agents reach a region in finite time with external disturbances by using Lyapunov stability analysis and algebraic graph theory. At last, one example...
This paper provides a review of some main works and research progress in distributed optimal consensus problems of multi-agent systems. Classical and common methods in this area are summarized, such as Riccati design, adaptive dynamic programming and inverse optimal control. This paper detailedly addresses the design schemes of optimal consensus protocols by reviewing several typical literatures....
This paper studies the consensus problem of a first-order multi-agent system by using event-based strategy. For each agent, both of the control law and the triggering function utilize estimated combinational measurement, which is calculated based on the combinational measurement that sampled at the agent's event instant. The distributed triggering function is developed to compute these instants. Only...
In this paper, a generalized convex network optimization problem with local domains and constraints is formulated and solved by using distributed multi-agent dynamics. Within the framework of the present network optimization, it is assumed that the local system states and constraints are available to an individual agent and each agent may only share information with its neighbors. A distributed PI-based...
Distributed formation control of Unmanned Aerial Vehicle (UAV) in three-dimensional space is discussed in this paper. In order to achieve a faster consensus seeking, a consensus-based cooperative formation control strategy with the tow-hop relay protocol is proposed. UAV's nonlinear kinetic model is transformed into linear model by feedback linearization and the original control inputs are also transformed...
In this paper, we consider the privacy preserving problem of consensus protocol. First, we introduce a privacy preserving scheme, where each node produces and transmits a sequence of random values with their mean equaling to the node's initial state. We show that the network can reach average consensus with privacy preserving scheme, and provide a sufficient condition under which the initial state...
To realize a consensus problem based on wireless communications, it is necessary to consider several constraints caused by the natures of wireless communications such as communication error, coverage, capacity, multi-user interference, half-duplex and so on. This work focuses on half-duplex constraint and multi-user interference for a consensus problem and proposes a new Slotted-ALOHA that changes...
In this paper, we propose a new consensus protocol in the form of distributed model predictive control (DMPC) in order to deal with the consensus problem of first-order discrete-time multi-agent systems. Equivalent form of general numerical solution of DMPC is presented by solving optimization problem, and necessary and sufficient convergence conditions of our proposed DMPC are obtained by using the...
This paper studies a leader-following consensus problem of multi-agent systems with a dynamic leader. It is assumed that the leader moves along a polynomial trajectory with respect to time, while followers have first-order integral dynamics. Every follower is equipped with the positioning system and ranger finder sensor to measure its own position and the relative positions with its neighbors. The...
This paper studies the problem of determining sensor locations in a large sensor network using only relative distance (range) measurement. In this paper, we consider a synchronous communication protocol when 1) the communication delay between sensors is uncertain; 2) successive packet loss is finite. Based on the barycentric coordinate representation, our work generalizes the DILOC algorithm in the...
In this paper, we probe into the influence of network structure on the convergence rate of agents in multi-agent systems, especially for the position and number of nodes of network on it. We discover some results of which kinds of networks are conductive to the faster convergence rate of agents in multi-agent systems. Firstly, if there is no ring in different networks where the number of nodes are...
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