Positional consensus in multi-agent systems using a broadcast control mechanism

  • Authors:

  • Kaushik Das;Debasish Ghose

  • Affiliations:

  • Guidance, Control, and Decision Systems Laboratory, Department of Aerospace Engineering, Indian Institute of Science, Bangalore, India;Guidance, Control, and Decision Systems Laboratory, Department of Aerospace Engineering, Indian Institute of Science, Bangalore, India

  • Venue:
  • ACC'09 Proceedings of the 2009 conference on American Control Conference
  • Year:
  • 2009

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Abstract

In this paper a strategy for controlling a group of agents to achieve positional consensus is presented. The proposed technique is based on the constraint that every agents must be given the same control input through a broadcast communication mechanism. Although the control command is computed using state information in a global framework, the control input is implemented by the agents in a local coordinate frame. We propose a novel linear programming formulation that is computationally less intensive than earlier proposed methods. Moreover, we introduce a random perturbation input in the control command that helps us to achieve perfect consensus even for a large number of agents, which was not possible with the existing strategy in the literature. Moreover, we extend the method to achieve positional consensus at a pre-specified location. The effectiveness of the approach is illustrated through simulation results.