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A novel leader following consensus approach for multi-agent systems with data loss

  • Regular Papers
  • Robot and Applications
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Abstract

The objective of this paper is to develop a novel consensus algorithm or protocol for multi-agent systems in the event of communication link failure over the network. The structure or topology of the system is modeled by an algebraic graph theory, and considered as a discrete time-invariant system with a second-order dynamics. Bernoulli distribution is applied to represent the data dropout during operation. The sufficient conditions for the stabilization controller design is developed by Lyapunov-based methodologies and Linear matrix inequality (LMIs) techniques. The feasibility of the given LMIs is analyzed to verify the stabilization of controller design, which ensures the MAS to achieve the consensus. Leader-following numerical simulations with a group of agents are successfully conducted based on the effect of data losses, initial values, communication weights, and number of agents to demonstrate the effectiveness of the novel consensus algorithm in this paper. Finally, experimental studies are carried out by using two Pioneer 3-DX mobile robots and one Pioneer 3-AT mobile robot as a team to verify the proposed work.

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Authors and Affiliations

  1. Department of Mechanical Engineering, Dalhousie University, P.O.Box 15000, Halifax, NS, Canada, B3H4R2

    Xiang Gong, Ya-Jun Pan & Ajinkya Pawar

Authors
  1. Xiang Gong
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  2. Ya-Jun Pan
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  3. Ajinkya Pawar
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Corresponding author

Correspondence to Ya-Jun Pan.

Additional information

Recommended by Associate Editor Sooyeong Yi under the direction of Editor-in-Chief Young Hoon Joo.

Xiang Gong received his B.Eng Degree in Mechanical Engineering from Dalhousie University in the year of 2010. He later joined the Mechatronic and Advanced Control lab to focus on Multi-agent System Control, and received his MASc Degree at Department of Mechanical Engineering, Dalhousie University in the year of 2013. Currently, he is working with Fluor Canada as a Rotating and Specialty Equipment Engineer.

Ya-Jun Pan received the B.E. degree in Mechanical Engineering from Yanshan University in 1996, the M.E. degree in Mechanical Engineering from Zhejiang University in 1999 and the Ph.D degree in Electrical and Computer Engineering from the National University of Singapore in 2003. She held post-doctoral positions of CNRS in the Laboratoire d’Automatique de Grenoble (Current Name: GPISA-Lab), France and the Department of Electrical and Computer Engineering at the University of Alberta, Canada, in 2003 and 2004 respectively. Since January 2005, she has been with the Faculty of the Mechanical Engineering Department at Dalhousie University, Halifax, NS, Canada, and where she is currently a Professor. Her research interests are focused on the robust nonlinear control, networked control systems, intelligent transportation systems and collaborative multiple autonomous aerial / ground / underwater vehicles. She is a senior member of IEEE, a member of ASME and a Registered Professional Engineer in the Province of Nova Scotia, Canada.

Ajinkya Pawar received his B.Eng Degree in Mechanical Engineering from University of Mumbai, India in the year 2012. He is currently working towards a MASc Degree at the Department of Mechanical Engineering, Dalhousie University. His research interests are networked control systems, formation and consensus control of multi-agent systems.

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Gong, X., Pan, YJ. & Pawar, A. A novel leader following consensus approach for multi-agent systems with data loss. Int. J. Control Autom. Syst. 15, 763–775 (2017). https://doi.org/10.1007/s12555-015-0242-5

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  • DOI: https://doi.org/10.1007/s12555-015-0242-5

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