Error-transformation-based consensus algorithms of multi-agent systems: connectivity-preserving approach

Sung Jin Yoo

International Journal of Systems Science, 2018, vol. 49, issue 4, 692-700

Abstract: This paper investigates distributed connectivity-preserving consensus problems of networked multi-agent systems with limited communication ranges. Compared with existing literature, a main contribution of this paper is to present a new nonlinear transformation approach of consensus errors for preserving the initial interaction patterns of multi-agent systems. Both the consensus and the connectivity preservation can be achieved by using one transformed error function. Based on the proposed nonlinear error transformation, we derive distributed connectivity-preserving consensus algorithms for single-integrator dynamics, double-integrator dynamics and second-order nonlinear systems. The asymptotic stability of consensus errors and the connectivity preservation among agents are established through Lyapunov stability analysis.

Date: 2018
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DOI: 10.1080/00207721.2018.1424968

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