• Journal of IKEEE
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• 제19권4호
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• pp.520-525
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• 2015

This paper investigates the consensus problem for high-order integrators with an arbitrary large communication delay. In order to solve this problem, new consensus controller with an additional design parameter that can eliminate the effect of a communication delay on the consensus problem is proposed. Also, it is proved that the proposed consensus controller can always solve the consensus problem of high-order integrators even in the presence of an arbitrarily large communication delay. Finally, an illustrative example is given in order to show the effectiveness of our design method.

• Journal of information and communication convergence engineering
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• 제17권3호
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• pp.167-173
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• 2019

This study investigates the problem of leader-following consensus for multi-agent systems with output saturations. This study assumes that the agents are described as a neutrally stable system, and the leader agent generates the bounded trajectory within the saturation level. Then, the objective of the leader-following consensus is to track the trajectory of the leader by exchanging information with neighbors. To solve this problem, we propose an observer-based distributed consensus algorithm. Then, we provide a consensus analysis by applying the Lyapunov stability theorem and LaSalle's invariance principle. The result shows that the agents achieve the leader-following consensus in a global sense. Moreover, we can achieve the consensus by choosing any positive control gain. Finally, we perform a numerical simulation to demonstrate the validity of the proposed algorithm.

• The Transactions of the Korea Information Processing Society
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• 제7권12호
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• pp.3815-3820
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• 2000

This paper is about the minimum requirements to solve the Election problem in asynchronous distributed systems. The focus of the paper is to find out what failure detector is the weakest one to solve the Election problem. We first discuss the relationship between the Election problem and the Consensus problem in asynchronous distributed systems with unreliable failure detectors and show that the Election problem is harder than the Consensus problem. More precisely, the weakest failure detector that is needed to solve this problem is a Perfect Failure Detector. which is strictly stronger than the weakest failure detector that is needed to solve Consensus.

• Journal of the Korea Society of Computer and Information
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• 제8권4호
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• pp.35-40
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• 2003

In this paper, I raise an issue regarding the relationships between the Election problem and the Consensus problem in asynchronous systems with unreliable failure detectors. First, I describe our system model, and then define Leader Election. After then, I show that the Election problem is harder to resolve than the Consensus problem. Each correct process eventually gets into the state in which it considers only one process to be a leader. Therefore a Perfect Failure Detector is the weakest failure detector which is sufficient to solve the Election. In order to show that the Election problem is harder to resolve than the Consensus problem, I utilize the Reduction protocol in this paper.

• Journal of Institute of Control, Robotics and Systems
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• 제19권5호
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• pp.390-397
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• 2013

This paper presents a consensus algorithm for uMAS (uncertain Multi-Agent Systems). Unlike previous results in which only nominal models for agents are considered, it is assumed that the uncertain agent model belongs to a known polytope set. In the middle of deriving the proposed algorithm, a convex set is found which includes all uncertainties in the problem using convexity of the polytope set. This set plays an important role in designing the consensus algorithm for uMAS. Based on the set, a consensus condition for uMAS is proposed and the corresponding consensus design problem is solved using LMI (Linear Matrix Inequality). Simulation result shows that the proposed consensus algorithm successfully leads to consensus of the state of uMAS.

• International Journal of Aeronautical and Space Sciences
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• 제18권3호
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• pp.522-534
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• 2017

According to the characteristics of salvo attack for the multiple flight vehicles (MFV), the design of cooperative guidance law can be converted into the consensus problem of multi-vehicle system through the concept of multi-agent cooperative control. The flight vehicles can be divided into leader and followers depending on different functions, and the flight conditions of leader are independent of the ones of followers. The consensus problem of leader-follower multi-vehicle system is researched by graph theory, and the consensus protocol is also presented. Meanwhile, the finite time guidance law is designed for the flight vehicles via the finite time control method, and the system stability is also analyzed. Whereby, the guidance law can guarantee the line of sight (LOS) angular rates converge to zero in finite time, and hence the cooperative attack of the MFV can be realized. The effectiveness of the designed cooperative guidance method is validated through the simulation with a stationary target and a moving target, respectively.

• Journal of Korean Society of Industrial and Systems Engineering
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• 제45권1호
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• pp.1-9
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• 2022

The PoN (Proof of Nonce) distributed consensus algorithm basically uses a non-competitive consensus method that can guarantee an equal opportunity for all nodes to participate in the block generation process, and this method was expected to resolve the first trilemma of the blockchain, called the decentralization problem. However, the decentralization performance of the PoN distributed consensus algorithm can be greatly affected by the network transaction transmission delay characteristics of the nodes composing the block chain system. In particular, in the consensus process, differences in network node performance may significantly affect the composition of the congress and committee on a first-come, first-served basis. Therefore, in this paper, we presented a problem by analyzing the decentralization performance of the PoN distributed consensus algorithm, and suggested a fairness control algorithm using a learning-based probabilistic acceptance rule to improve it. In addition, we verified the superiority of the proposed algorithm by conducting a numerical experiment, while considering the block chain systems composed of various heterogeneous characteristic systems with different network transmission delay.

• Journal of Institute of Control, Robotics and Systems
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• 제18권7호
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• pp.617-621
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• 2012

This paper studies asymptotic consensus problem for linear multi-agent systems. We propose a distributed state feedback control algorithm for solving the problem under fixed and undirected network communication. In contrast with the conventional algorithms that use global information (e.g., graph connectivity), the proposed algorithm only uses local information from neighbors. The principle for achieving asymptotic consensus is that, for each agent, a distributed update law gradually increases the coupling gain of LQR-type feedback and thus, the overall stability of the multi-agent system is recovered by the gain margin of LQR.

• Journal of IKEEE
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• 제22권1호
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• pp.121-126
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• 2018

This paper addresses the consensus problem for nonlinear multi-agent systems using observer based controller. In order to solve this problem, the high gain approach is combined with the previous low gain controller. Also, it is shown that the proposed observer based controller can always guarantee the consensus of nonlinear systems with lower triangular nonlinearity.

• Journal of the Korea Institute of Military Science and Technology
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• 제14권5호
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• pp.941-947
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• 2011

This paper deals with the consensus problem for multi-agent linear dynamic systems with directed communication topology. All the agents are identical high-order linear systems and their state information is exchanged through a communication network with directed graph. It is shown that a consensus is achieved if there exists a feasible solution to a set of linear matrix inequalities obtained for a simultaneous stabilization problem for multiple systems. Examples are presented to show the effectiveness of the proposed method.