Modeling, Analysis and Stability of Consensus Condition in Heterogeneous and Switching Multi Agent Systems


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Abstract


Many systems in nature and of practical interest can be modeled as large collections of interacting subsystems. Such systems are referred as "Multi Agent Systems" (briefly MASs). More recently, consensus algorithms in MASs are studied for several applications including power network, formation flight, sensor networks, swarms, collective behavior of flocks. Most of papers in the literature consider identical MASs with identical dynamical system at the node. The paper presents the modeling and analysis of heterogeneous MASs where the node dynamic may be non identical. Additionally the dynamic topological structure connecting the agents may be switching. Further, stability conditions are given for assessing network consensusability. Simulation validation is carried out to validate the analysis and the theoretical results.
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Keywords


Multi Agent Systems; Consensus Algorithm; Large Scale Systems

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