scholarly journals Genetic Optimization-Based Consensus Control of Multi-Agent 6-DoF UAV System

Sensors ◽  
2020 ◽  
Vol 20 (12) ◽  
pp. 3576 ◽  
Author(s):  
Aws Najm ◽  
Ibraheem Ibraheem ◽  
Ahmad Azar ◽  
Amjad Humaidi
Keyword(s):  
Genetic Algorithm ◽  
Optimization Technique ◽  
Switching Topology ◽  
Control Law ◽  
Genetic Optimization ◽  
Multi Agent System ◽  
Control Parameters ◽  
Consensus Control ◽  
Communication Topology ◽  
Multi Agent

A consensus control law is proposed for a multi-agent system of quadrotors with leader–follower communication topology for three quadrotor agents. The genetic algorithm (GA) is the proposed optimization technique to tune the consensus control parameters. The complete nonlinear model is used without any further simplifications in the simulations, while simplification in the model is used to theoretically design the controller. Different case studies and tests are done (i.e., trajectory tracking formation and switching topology) to show the effectiveness of the proposed controller. The results show good performance in all tests while achieving the consensus of the desired formations.

scholarly journals Autonomous Addition of Agents to an Existing Group Using Genetic Algorithm

Sensors ◽  
2020 ◽  
Vol 20 (23) ◽  
pp. 6953
Author(s):  
Sabyasachi Mondal ◽  
Antonios Tsourdos
Keyword(s):  
Genetic Algorithm ◽  
Optimal Topology ◽  
Autonomous Agent ◽  
Multi Agent Systems ◽  
Consensus Protocol ◽  
Consensus Control ◽  
New Agents ◽  
Communication Topology ◽  
Multi Agent ◽  
The Stability

This paper presents an idea of how new agents can be added autonomously to a group of existing agents without changing the existing communication topology among them. Autonomous agent addition to existing Multi-Agent Systems (MASs) can give a strategic advantage during the execution of a critical beyond visual line-of-sight (BVLOS) mission. The addition of the agent essentially means that new connections with existing agents are established. It is obvious that the consensus control energy increases as the number of agent increases considering a specific consensus protocol. The objective of this work is to establish the new connections in a way such that the consensus energy increase due to the new agents is minimal. The updated topology, including new connections, must contain a spanning tree to maintain the stability of the MASs network. The updated optimal topology is obtained by solving minimum additional consensus control energy using the Two-Dimensional Genetic Algorithm. The results obtained are convincing.

scholarly journals Distributed Adaptive Formation Tracking Control under Fixed and Switching Topologies: Application on General Linear Multi-Agent Systems

Symmetry ◽  
2021 ◽  
Vol 13 (6) ◽  
pp. 941
Author(s):  
Tianhao Sun ◽  
Huiying Liu ◽  
Yongming Yao ◽  
Tianyu Li ◽  
Zhibo Cheng
Keyword(s):  
Switching Topology ◽  
General Linear ◽  
Time Varying ◽  
Multi Agent System ◽  
Multi Agent Systems ◽  
Agent System ◽  
Switching Topologies ◽  
Formation Tracking ◽  
Leader Following ◽  
Multi Agent

In this paper, the time-varying formation tracking problem of the general linear multi-agent system is discussed. A distributed formation tracking protocol based on Riccati inequalities with adaptive coupling weights among the follower agents and the leader agent is designed for a leader-following multi-agent system under fixed and switching topologies. The formation configuration involved in this paper is expressed as a bounded piecewise continuously differentiable vector function. The follower agents will achieve the desired formation tracking trajectory of the leader. In traditional static protocols, the coupling weights depend on the communication topology and is a constant. However, in this paper, the coupling weights are updated by the state errors among the neighboring agents. Moreover, the stability analysis of the MAS under switching topology is presented, and proves that the followers also could achieve pre-specified time-varying formation, if the communication graph is jointly connected. Two numerical simulations indicate the capabilities of the algorithms.

scholarly journals A GENETIC APPROACH FOR LONG TERM VIRTUAL ORGANIZATION DISTRIBUTION

2011 ◽  
Vol 20 (02) ◽  
pp. 271-295 ◽  
Author(s):  
VÍCTOR SÁNCHEZ-ANGUIX ◽  
SOLEDAD VALERO ◽  
ANA GARCÍA-FORNES
Keyword(s):  
Genetic Algorithm ◽  
Virtual Organization ◽  
Genetic Material ◽  
Multi Agent System ◽  
Crossover Operator ◽  
Agent Based ◽  
Multi Agent ◽  
Global Goal ◽  
Computational Resources

An agent-based Virtual Organization is a complex entity where dynamic collections of agents agree to share resources in order to accomplish a global goal or offer a complex service. An important problem for the performance of the Virtual Organization is the distribution of the agents across the computational resources. The final distribution should provide a good load balancing for the organization. In this article, a genetic algorithm is applied to calculate a proper distribution across hosts in an agent-based Virtual Organization. Additionally, an abstract multi-agent system architecture which provides infrastructure for Virtual Organization distribution is introduced. The developed genetic solution employs an elitist crossover operator where one of the children inherits the most promising genetic material from the parents with higher probability. In order to validate the genetic proposal, the designed genetic algorithm has been successfully compared to several heuristics in different scenarios.

A Genetic Algorithm-Oriented Model of Agent Persuasion for Multi-agent System Negotiation

2020 ◽  
pp. 281-291
Author(s):  
Samantha Jiménez ◽  
Víctor H. Castillo ◽  
Bogart Yail Márquez ◽  
Arnulfo Alanis ◽  
Leonel Soriano-Equigua ◽  
...  
Keyword(s):  
Genetic Algorithm ◽  
Multi Agent System ◽  
Agent System ◽  
Multi Agent

scholarly journals Second-Order Multiagent Systems with Event-Driven Consensus Control

2013 ◽  
Vol 2013 ◽  
pp. 1-9 ◽  
Author(s):  
Jiangping Hu ◽  
Yulong Zhou ◽  
Yunsong Lin
Keyword(s):  
Multiagent Systems ◽  
Closed Loop ◽  
Second Order ◽  
Multi Agent System ◽  
Consensus Control ◽  
Agent System ◽  
Control Laws ◽  
Event Driven ◽  
Multi Agent ◽  
Event Times

Event-driven control scheduling strategies for multiagent systems play a key role in future use of embedded microprocessors of limited resources that gather information and actuate the agent control updates. In this paper, a distributed event-driven consensus problem is considered for a multi-agent system with second-order dynamics. Firstly, two kinds of event-driven control laws are, respectively, designed for both leaderless and leader-follower systems. Then, the input-to-state stability of the closed-loop multi-agent system with the proposed event-driven consensus control is analyzed and the bound of the inter-event times is ensured. Finally, some numerical examples are presented to validate the proposed event-driven consensus control.

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