The exponential consensus of linear multi-agent systems with
binary-valued measurements and Markovian switching topologies
- Xu Sun,
- Zhipeng Ren,
- Ting Wang,
- Guoqiang Tan
Xu Sun
University of Science and Technology Beijing Institute of Artificial Intelligence
Author ProfileZhipeng Ren
University of Science and Technology Beijing Institute of Artificial Intelligence
Author ProfileGuoqiang Tan
Loughborough University School of Aeronautical Automotive Chemical and Materials Engineering
Author ProfileAbstract
This paper studies consensus of linear multi-agent systems with
binary-valued measurements and switching topologies. Unlike the existing
consensus of multi-agent systems with binary-valued measurements,
Markovian switching topology is introduced in this paper. A new
algorithm is proposed to improve the consensus speed of multi-agent
systems, with constant gains in both estimation and control, instead of
time-varying gains. By analyzing the estimation error and the consensus
error simultaneously, we prove that the proposed algorithm can make
agents achieve consensus in a bouned range, and the consensus speed is
negative exponential under certain conditions, which is faster than that
in existing literature. Finally, simulation results are given to
demonstrate the theoretical results.