Nonlinear consensus protocol modified from doubly stochastic quadratic operators in networks of dynamic agents
This article explores nonlinear convergence to limit the effects of the consensus problem that usually occurs in multi-agent systems. Most of the existing research essentially considers the outline of linear protocols, using complex mathematical equations in various orders. In this work, however,...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English English English |
| Published: |
MDPI
2019
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| Subjects: | |
| Online Access: | http://irep.iium.edu.my/77159/ http://irep.iium.edu.my/77159/ http://irep.iium.edu.my/77159/ http://irep.iium.edu.my/77159/1/abdulghafor2019MDSQO.pdf http://irep.iium.edu.my/77159/7/77159_Nonlinear%20consensus%20protocol%20modified_scopus.pdf http://irep.iium.edu.my/77159/8/77159_Nonlinear%20consensus%20protocol%20modified_wos.pdf |
| Summary: | This article explores nonlinear convergence to limit the effects of the consensus problem
that usually occurs in multi-agent systems. Most of the existing research essentially considers the
outline of linear protocols, using complex mathematical equations in various orders. In this work,
however, we designed and developed an alternative nonlinear protocol based on simple and
effective mathematical approaches. The designed protocol in this sense was modified from the
Doubly Stochastic Quadratic Operators (DSQO) and was aimed at resolving consensus problems.
Therefore, we called it Modified Doubly Stochastic Quadratic Operators (MDSQO). The protocol
was derived in the context of coordinated systems to overcome the consensus issue related to multiagent
systems. In the process, we proved that by using the proposed nonlinear protocol, the
consensus could be reached via a common agreement among the agents (average consensus) in a
fast and easy fashion without losing any initial status. Moreover, the investigated nonlinear protocol
of MDSQO realized the reaching consensus always as well as DSQO in some cases, which could not
reach consensus. Finally, simulation results were given to prove the validity of the theoretical
analysis. |
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