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Consensus-Based Cooperative Control

From Fachgebiet Regelungssysteme TU Berlin

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Contents

Abstract

Consensus algorithms, which have been used in the field of distributed computing for decades, have recently attracted renewed attention because they can be exploited for distributed cooperative control. Coordination between entities in a group requires that they share information over a network, which is usually modelled as a directed or undirected graph, and develop a consistent view regarding objectives and relevant information on the environment, i.e., reach a consensus. Within this context, we have investigated the following issues.

One concerns a specific class of consensus algorithms, namely max-consensus, which is particularly important in applications such as minimum time rendezvous and leader election. In particular, we have proposed an approach that uses results from the field of max-plus algebra to analyze max-consensus algorithms in both time-invariant and time-variant communication topologies[1] [2].

We have also investigated convergence properties of consensus algorithms, characterized by the Laplacian matrix of the communication graph, for agents with double integrator dynamics. Position and velocity information is exchanged between the agents via different undirected communication networks. It turns out that consensus can be achieved even if neither of the two networks is connected[3] [4].

We have used cooperative communication and distributed optimization techniques to maximize the lifetime of wireless sensor networks in the context of slow-fading communication channels[5].

People involved

Cooperation

  • A. Wolisz, Telecommunication Networks Group, TU Berlin

Publications

  1. B. Monajemi Nejad, S.A. Attia, J. Raisch. Max-Consensus in a Max-Plus Algebraic Setting: The Case of Fixed Communication Topologies. In in XXII International Symposium on Information, Communication and Automation Technologies, Sarajevo, Bosnia and Herzegovina, 2009.
  2. B. Monajemi Nejad, S.A. Attia, J. Raisch. Max-Consensus in a Max-Plus Algebraic Setting: The Case of Switching Communication Topologies. In in 10th International Workshop on Discrete Event Systems, pages 183-190, Berlin, Germany, August-September 2010.
  3. D. Goldin, J. Raisch. Controllability of Second Order Leader-Follower Systems. 2nd IFAC Workshop on Estimation and Control of Networked Systems, 2010.
  4. D. Goldin, S. A. Attia, J. Raisch. Consensus for Double Integrator Dynamics in Heterogeneous Networks. 49th IEEE Conference on Decision and Control (CDC'10), 2010.
  5. O. Bilenne, S.A. Attia, J. Raisch. Distributed Lifetime Maximisation in Wireless Sensor Networks using Cooperation Techniques. In Proc. 1st International Conference on Communications, Computing and Control Applications IEEE, 2011.
D. Goldin, J. Raisch. Consensus for Agents with Double Integrator Dynamics in Heterogeneous Networks. Asian Journal of Control, 15 (4):1-10, 2013.
D. Goldin, J. Raisch. On the Weight Controllability of Consensus Algorithms. European Control Conference, 2013 (to appear).
D. Goldin. On the Controllability and Weight Controllability of Double Integrator Leader-Follower Consensus Systems. submitted to the 52nd IEEE Conference on Decision and Control, 2013 (submitted).
J. Schiffer, D. Goldin, J. Raisch, T. Sezi. Synchronization of Droop-Controlled Autonomous Microgrids with Rotational and Electronic Distributed Generation. submitted to the 52nd IEEE Conference on Decision and Control, 2013 (submitted).
D. Goldin. Double Integrator Consensus Algorithms with Application to Power Systems. 4th IFAC Workshop on Estimation and Control of Networked Systems, 2013 (to appear).

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