Consensus Problem in Multi-Agent Systems with Communication Channel Constraint on Signal Amplitude
Minghui Wang, Kenko Uchida · SICE Journal of Control Measurement and System Integration · 2013
The consensus problem of multi-agent systems with communication channel constraint is studied by providing special Laplacians of directed graphs in this paper. Communication delays as one kind of channel constraints in multi-agent systems have been discussed in the recent literature. Different from those works, the consensus problem with communication channel constraint on signal amplitude is addressed in this paper. Our work shows that the consensus can be obtained as long as some state-dependent switching parameters are introduced into two different types of the consensus protocols. It is shown in an identical constraint case that the system given by one of the two protocols can reach globally asymptotically consensus and that the system can also achieve a generalized average-consensus if the directed graph is balanced; it is shown in a non-identical constraint case that the other protocol can provide the system with an asymptotic consensus. Examples have been given to illustrate the effectiveness of the methods.