共查询到20条相似文献，搜索用时 17 毫秒
1.
Recent applications call for distributed weighted average estimation over sensor networks, where sensor measurement accuracy or environmental conditions need to be taken into consideration in the final consensused group decision. In this paper, we propose new dynamic consensus filter design to distributed estimate weighted average of sensors’ inputs on directed graphs. Based on recent advances in the filed, we modify the existing proportional-integral consensus filter protocol to remove the requirement of bi-directional gain exchange between neighbouring sensors, so that the algorithm works for directed graphs where bi-directional communications are not possible. To compensate for the asymmetric structure of the system introduced by such a removal, sufficient gain conditions are obtained for the filter protocols to guarantee the convergence. It is rigorously proved that the proposed filter protocol converges to the weighted average of constant inputs asymptotically, and to the weighted average of time-varying inputs with a bounded error. Simulations verify the effectiveness of the proposed protocols. 相似文献
2.
Yi Guo 《国际强度与非线性控制杂志
》2015,25(13):2019-2040
》2015,25(13):2019-2040
We consider distributed estimation on a directed graph with switching topologies. Motivated by a recent PI consensus filter, we modify the protocol and remove the requirement of bidirectional exchange of neighboring gains for fixed topologies. We then extend the protocol to switching topologies and propose a new hybrid consensus filter design. Convergence results under both balanced directed, and general directed graphs are given for switching graphs. Consensus error bounds are analytically derived in the case of time‐varying inputs. Satisfactory simulation results are shown. Copyright © 2014 John Wiley & Sons, Ltd. 相似文献
3.
Consensus control of multi-agent systems is an innovative paradigm for the development of intelligent distributed systems. This has fascinated numerous scientific groups for their promising applications as they have the freedom to achieve their local and global goals and make their own decisions. Network communication topologies based on graph and matrix theory are widely used in a various real-time applications ranging from software agents to robotics. Therefore, while sustaining the significance of both directed and undirected graphs, this research emphases on the demonstration of a distributed average consensus algorithm. It uses the harmonic mean in the domain of multi-agent systems with directed and undirected graphs under static topologies based on a control input scheme. The proposed agreement protocol focuses on achieving a constant consensus on directional and undirected graphs using the exchange of information between neighbors to update their status values and to be able to calculate the total number of agents that contribute to the communication network at the same time. The proposed method is implemented for the identical networks that are considered under the directional and non-directional communication links. Two different scenarios are simulated and it is concluded that the undirected approach has an advantage over directed graph communication in terms of processing time and the total number of iterations required to achieve convergence. The same network parameters are introduced for both orientations of the communication graphs. In addition, the results of the simulation and the calculation of various matrices are provided at the end to validate the effectiveness of the proposed algorithm to achieve consensus. 相似文献
4.
Ji Ma;Ziqin Chen;Haibo Ji; 《国际强度与非线性控制杂志
》2024,34(15):10251-10275
》2024,34(15):10251-10275
The output consensus problem for heterogeneous linear multi-agent systems (MASs) without strongly connected communication graphs is investigated via quantization communication. In this work, we propose an efficient distributed control law composed of distributed quantized observers and compensators to accomplish this task. Particularly, we first employ a dynamic encoding–decoding scheme to design the distributed quantized observer, which is able to accurately estimate the state of the leader for MASs. Then, an appropriate compensator is constructed to show that asymptotic output consensus can be achieved with 5-level quantizer, even if neither global knowledge of communication graphs nor the information about initial states of all agents is required. Finally, a numerical example is used to validate the effectiveness of our distributed control law for MASs. 相似文献
5.
In this article, we propose a distributed δ-consensus protocol in directed networks of dynamic agents having communication delays. The δ-consensus protocol is an average consensus protocol where agents exchange the information with their neighbours at some discontinuous moments. We provide convergence analysis for such consensus algorithm under stochastic switching communication graphs, and then present some generic criteria for solving the average consensus problem. We also show that directed delayed networks of dynamic agents can achieve average consensus even when each agent in the networks intermittently exchanges the information with its neighbours only at some discrete moments. Subsequently, a typical numerical example illustrates and visualises the effectiveness and feasibility of the theoretical results. 相似文献
6.
刘伟民;李乐;王永越;刘金琨 《信息与控制》2025,54(2):310-320
面向复杂协同探测任务,研究了多个刚柔耦合探测系统在有向图下的领导者跟随一致性及振动控制问题。单个刚柔耦合探测系统由刚性机械臂、柔性缆绳和末端负载构成。首先,针对单个系统,利用哈密顿原理得出了由一组偏微分方程和常微分方程描述的分布参数动力学模型。然后,基于系统的分布参数模型设计了一种一致性边界控制策略,使得刚性机械臂的转动角度一致地跟踪领导者的期望角度,同时抑制柔性缆绳的弹性变形。通过构造李雅普诺夫函数并应用拉萨尔不变集原理,证明了闭环系统的渐近稳定性。最后,通过对不同情况进行数值仿真对比,验证了所提出的控制策略可有效实现一致性跟踪及振动抑制。 相似文献
7.
In this article, we study the finite-time consensus in probability for stochastic multi-agent systems. First, we give the nonlinear consensus protocol for multi-agent systems with Gaussian white noise, and define the concept of finite-time consensus in probability. Second, we prove that multi-agent systems can achieve the finite-time consensus in probability under five different kinds of communication topologies by using graph theory, stochastic Lyapunov theory and probability theory. Finally, some simulation examples are provided to illustrate the effectiveness of the theoretical results. 相似文献
8.
By virtue of alternating direction method of multipliers(ADMM), Newton-Raphson method, ratio consensus approach and running sum method, two distributed iterative strategies are presented in this paper to address the economic dispatch problem(EDP) in power systems. Different from most of the existing distributed ED approaches which neglect the effects of packet drops or/and time delays, this paper takes into account both packet drops and time delays which frequently occur in communication networks. Moreover, directed and possibly unbalanced graphs are considered in our algorithms, over which many distributed approaches fail to converge. Furthermore, the proposed schemes can address the EDP with local constraints of generators and nonquadratic convex cost functions, not just quadratic ones required in some existing ED approaches. Both theoretical analyses and simulation studies are provided to demonstrate the effectiveness of the proposed schemes. 相似文献
9.
区块链作为一种创新型的分布式账本技术, 以其去中心化、可追溯、防篡改等特性, 在未来许多行业中具有广泛的应用前景. 但现有单链式结构的区块链存在并发低、高延迟等问题. 一种基于有向无环图(directed acyclic graph, DAG)结构的新型账本技术的出现有望突破传统区块链的性能瓶颈, 但目前基于DAG型区块链系统的共识机制并不成熟. 本文针对典型DAG型区块链系统Nano网络的ORV共识机制存在的安全性问题进行改进, 提出了一种基于代表选举模型的公开选举代表投票共识机制, 即OERV (open election representative voting). 使主要代表节点的权益得到了分散, 增强了去中心化程度, 提高了网络安全性. 实验结果表明, OERV算法性能高效, 能够在不牺牲系统效率的同时增强系统的稳定性和安全性, 对于推动DAG型区块链共识机制的研究有着重要的现实意义. 相似文献
10.
Zhi‐Wei Liu Zhi‐Hong Guan Tao Li Xian‐He Zhang Jiang‐Wen Xiao 《Asian journal of control》2012,14(6):1634-1642
Distributed consensus problems of multi‐agent systems on directed networks are studied in this paper. For the communication of agents, it is assumed that only one agent can be selected with a prescribed probability, and it broadcasts its own state to neighbors via quantized communication (for any arbitrary quantization) at each time step. For this kind of communication, the fundamental questions are how to design distributed algorithms and what kinds of network topology together lead to the quantized consensus. A class of broadcast gossip algorithms is proposed, and a necessary and sufficient graphical condition is given to ensure the quantized consensus. In particular, the obtained graphical condition does not require a symmetric network topology, which is weaker than those in some other literature. Several numerical simulations are given to show the effectiveness of the proposed algorithms. 相似文献
11.
物联网应用(IOTA)作为一种经典的基于有向无环图而非链式结构的区块链系统, 由于采用置信度共识方式导致交易确认依赖中心节点, 并且难以及时发现交易冲突. 为此, 本文提出一种基于时间切片的设计方法, 通过规定在每个时间片结束时由内部节点检查并同步当前交易子图, 设计了一种high quality IOTA(HQIOTA)共识机制.在交易确认中, 通过设计内部节点自适应调节控制替代了原有的外部规定阈值的转变. 进而能及时发现并删除矛盾交易, 解决了交易冲突不敏感的问题. 本文基于概率分布模拟的网络环境进行实验, 结果表明HQIOTA能比IOTA更快发现交易冲突并且更灵活地进行交易确认. 相似文献
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13.
Consensus strategies find extensive applications in coordination of robot groups and decision-making of agents. Since balanced graph plays an important role in the average consensus problem and many other coordination problems for directed communication networks, this work explores the conditions and algorithms for the digraph balancing problem. Based on the analysis of graph cycles, we prove that a digraph can be balanced if and only if the null space of its incidence matrix contains positive vectors. Then, based on this result and the corresponding analysis, two weight balance algorithms have been proposed, and the conditions for obtaining a unique balanced solution and a set of analytical results on weight balance problems have been introduced. Then, we point out the relationship between the weight balance problem and the features of the corresponding underlying Markov chain. Finally, two numerical examples are presented to verify the proposed algorithms. 相似文献
14.
This paper aims to address finite-time consensus problems for multi-agent systems under the iterative learning control framework. Distributed iterative learning protocols are presented, which adopt the terminal laws to update the control input and are offline feedforward design approaches. It is shown that iterative learning protocols can guarantee all agents in a directed graph to reach the finite-time consensus. Furthermore, the multi-agent systems can be enabled to achieve a finite-time consensus at any desired terminal state/output if iterative learning protocols can be improved by introducing the desired terminal state/output to a portion of agents. Simulation results show that iterative learning protocols can effectively accomplish finite-time consensus objectives for both first-order and higher order multi-agent systems. 相似文献
15.
现有的带有一致性策略的分布式 滤波方法包含两个步骤:与相邻传感器节点交互通信的一致性步骤, 以及本地滤波步骤. 本文分析了一致性跟踪误差对于本地估计误差的影响, 并针对此影响, 提出了新的分布式H∞滤波方法. 当采样周期中一致性迭代次数有限时, 本文提出的方法能够抑制一致性跟踪误差对本地估计误差的影响;当采样周期中一致性迭代次数趋于无穷, 即一致性跟踪误差收敛到零时, 本文提出的分布式算法中的本地滤波就等价于集中式滤波. 仿真表明了本文方法的有效性. 相似文献
16.
针对多智能体网络系统,本文分别研究了非平衡拓扑结构的多智能体连续状态和离散状态下的一致性协议.首先提出了能使用有向图表示的多智能体网络系统的拓扑结构,并根据该拓扑结构建立了网络系统的1阶数学模型和提出了多智能体网络系统一致收敛准则.对于多智能体网络连续系统,该系统的一致平衡点最终收敛于初始状态的凸组合,本文最终确定了非平衡拓扑结构的一致平衡点.如果多智能体网络系统的拓扑结构没有改变,在离散状态下系统的一致平衡点仍收敛于初始状态的凸组合,并且离散状态下系统的一致平衡点与连续状态下系统的一致平衡点相等.最后采用8个智能体组成的网络拓扑进行计算机仿真,验证理论的正确性. 相似文献
17.
Mohammad Hadi Rezaei 《International journal of systems science》2018,49(2):284-298
This paper investigates the stationary average consensus problem for a class of heterogeneous-order multi-agent systems. The goal is to bring the positions of agents to the average of their initial positions while letting the other states converge to zero. To this end, three different consensus protocols are proposed. First, based on the auxiliary variables information among the agents under switching directed networks and state-feedback control, a protocol is proposed whereby all the agents achieve stationary average consensus. In the second and third protocols, by resorting to only measurements of relative positions of neighbouring agents under fixed balanced directed networks, two control frameworks are presented with two strategies based on state-feedback and output-feedback control. Finally, simulation results are given to illustrate the effectiveness of the proposed protocols. 相似文献
18.
《Automatica》2014,50(12):3131-3138
This paper deals with the problem of average consensus of a set of time-varying reference signals in a distributed manner. We propose a new class of discrete time algorithms that are able to track the average of the signals with an arbitrarily small steady-state error and with robustness to initialization errors. We provide bounds on the maximum step size allowed to ensure convergence to the consensus with error below the desired one. In addition, for certain classes of reference inputs, the proposed algorithms allow arbitrarily large step size, an important issue in real networks, where there are constraints in the communication rate between the nodes. The robustness to initialization errors is achieved by introducing a time-varying sequence of damping factors that mitigates past errors. Convergence properties are shown by the decomposition of the algorithms into sequences of static consensus processes. Finally, simulation results corroborate the theoretical contributions of the paper. 相似文献
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20.
针对如何提高多智能体系统达到一致性的收敛速度的问题,提出了一种采用超节点协同的多智能体系统一致性算法.新算法对多智能体系统建立图信号模型,在图中选出超节点进行协同,有效提高一致性收敛速度.首先利用单跳采样算法对图进行超节点的选取和局部集的划分,并对局部集内的节点进行一次协同.然后超节点之间进行边的连接得到粗化图,用粗化图的拉普拉斯矩阵特征值设计图滤波器的系数.最后超节点的信号经过图滤波器迭代达到平均值后,传输给其一阶邻居节点,使所有节点达到平均一致.仿真结果表明所提算法能够最终实现平均一致性,与现有方法相比,可以显著提高收敛速度,并减少计算量. 相似文献
