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We propose distributed static and dynamic event-triggered control laws to solve the consensus problem for multi-agent systems with output saturation. Under the condition that the underlying graph is undirected and connected, we show that consensus is achieved under both event-triggered control laws if and only if the average of the initial states is within the saturation level. Numerical simulations...
A symmetric signed Laplacian matrix uniquely defines a resistive electrical circuit, where the negative weights correspond to negative resistances. The positive semidefiniteness of signed Laplacian matrices is studied in this paper using the concept of effective resistance. We show that a signed Laplacian matrix is positive semidefinite with a simple zero eigenvalue if, and only if, the underlying...
In a recent paper [1], a modified DeGroot-Friedkin model was proposed to study the evolution of the social-confidence levels of individuals in a reflected appraisal mechanism in which a network of n individuals consecutively discuss a sequence of issues. The individuals update their self-confidence levels on one issue in finite time steps, via communicating with their neighbors, instead of waiting...
In this paper we deal with robust synchronization problems for directed Lur'e networks subject to incrementally passive nonlinearities and incrementally sector bounded non-linearities, respectively. By making use of general algebraic connectivities of strongly connected graphs and subgraphs, sufficient synchronization conditions are obtained for diffusively interconnected identical Lur'e systems on...
This paper considers a distributed control algorithm for frequency control of electrical power systems. We propose a distributed controller which retains the reference frequency of the buses under unknown load changes, while asymptotically minimizing a quadratic cost of power generation. For comparison, we also propose a centralized controller which also retains the reference frequency while minimizing...
In this paper, we give necessary conditions for achieving global consensus in homogeneous networks of discrete-time linear time-invariant agents with input saturation constraints under fixed undirected topologies. For two special cases, where the agent model is either neutrally stable or a double integrator, these necessary conditions together with a gain condition are also sufficient. We show this...
This paper analyzes distributed proportional-integral controllers. We prove that integral action can be successfully applied to consensus algorithms, where attenuation of static disturbances is achieved. These control algorithms are applied to decentralized frequency control of electrical power systems. We show that the proposed algorithm can attenuate step disturbances of power loads. We provide...
In several multi agent control problems, the convergence properties and speed of the system depend on the algebraic connectivity of the graph. We discuss a particular event-triggered consensus scenario, and show that the availability of an estimate of the algebraic connectivity could be used for adapting the behavior of the average consensus algorithm. We present a novel distributed algorithm for...
This paper presents a distributed event-based control strategy for a networked dynamical system consisting of N linear time-invariant interconnected subsystems. Each subsystem broadcasts its state over the network according to some triggering rules which depend on local information only. The system converges to an adjustable region around the equilibrium point under the proposed control design, and...
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