On the consensus of heterogeneous multi-agent systems: a decoupling approach

Authors: Gabriel Rodrigues de Campos,  Lara Brinon-Arranz, Alexandre Seuret, Silviu-Iulian Niculescu 

Conference: 3rd  IFAC Workshop on Distributed Estimation and Control in Networked Systems, 2012 

Abstract: This article deals with consensus algorithms for heterogeneousmulti-agent systems (MAS). A control strategy based on consensus algorithmwhich is decoupled from the original systems is proposed. Consequently, its major advantage remains in the separation of the stability analysis of each subsystem and the distributed control algorithm. Through the paper, it is shown that our method allows using classical distributed consensus algorithms such as simple integrator consensus (with or without delay), and distributed consensus filter algorithms. Finally, some simulation results supporting our theoretical results are presented, where the efficiency of the method is tested for completely arbitrary models.


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