Consensus filter on networked single-integrator system

Jianan Wang

doi:10.1109/SECon.2012.6196886

Consensus filter on networked single-integrator system

Jianan Wang^*

^*Corresponding author for this work

Mississippi State University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

A novel consensus filter is addressed to solve the multi-agent cooperative problem in the presence of measurement noise, where single-integrator is considered as the model of the agent. Consensus filter is established by modifying the fundamental consensus algorithm to achieve not only the cooperation of state but the attenuation of noise. Initially, the low-pass property of this consensus filter is shown by a specific and fixed topology among the agents. Sequentially, the tracking stability to a dynamic reference is proven by the linear system theory and matrix theory. Due to the communication limit, switching topologies case is also considered. Finally, effectiveness of the proposed algorithm is verified by simulation results.

Original language	English
Title of host publication	2012 Proceedings of IEEE SoutheastCon, SOUTHEASTCON 2012
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Print)	9781467313742
DOIs	https://doi.org/10.1109/SECon.2012.6196886
Publication status	Published - 2012
Externally published	Yes
Event	2012 IEEE SoutheastCon, SOUTHEASTCON 2012 - Orlando, FL, United States Duration: 15 Mar 2012 → 18 Mar 2012

Publication series

Name	Conference Proceedings - IEEE SOUTHEASTCON
ISSN (Print)	1091-0050
ISSN (Electronic)	1558-058X

Conference

Conference	2012 IEEE SoutheastCon, SOUTHEASTCON 2012
Country/Territory	United States
City	Orlando, FL
Period	15/03/12 → 18/03/12

Access to Document

10.1109/SECon.2012.6196886

Cite this

@inproceedings{d43e1a86ad534a2bb96e9d860f795e76,

title = "Consensus filter on networked single-integrator system",

abstract = "A novel consensus filter is addressed to solve the multi-agent cooperative problem in the presence of measurement noise, where single-integrator is considered as the model of the agent. Consensus filter is established by modifying the fundamental consensus algorithm to achieve not only the cooperation of state but the attenuation of noise. Initially, the low-pass property of this consensus filter is shown by a specific and fixed topology among the agents. Sequentially, the tracking stability to a dynamic reference is proven by the linear system theory and matrix theory. Due to the communication limit, switching topologies case is also considered. Finally, effectiveness of the proposed algorithm is verified by simulation results.",

author = "Jianan Wang",

year = "2012",

doi = "10.1109/SECon.2012.6196886",

language = "English",

isbn = "9781467313742",

series = "Conference Proceedings - IEEE SOUTHEASTCON",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

booktitle = "2012 Proceedings of IEEE SoutheastCon, SOUTHEASTCON 2012",

address = "United States",

note = "2012 IEEE SoutheastCon, SOUTHEASTCON 2012 ; Conference date: 15-03-2012 Through 18-03-2012",

}

TY - GEN

T1 - Consensus filter on networked single-integrator system

AU - Wang, Jianan

PY - 2012

Y1 - 2012

N2 - A novel consensus filter is addressed to solve the multi-agent cooperative problem in the presence of measurement noise, where single-integrator is considered as the model of the agent. Consensus filter is established by modifying the fundamental consensus algorithm to achieve not only the cooperation of state but the attenuation of noise. Initially, the low-pass property of this consensus filter is shown by a specific and fixed topology among the agents. Sequentially, the tracking stability to a dynamic reference is proven by the linear system theory and matrix theory. Due to the communication limit, switching topologies case is also considered. Finally, effectiveness of the proposed algorithm is verified by simulation results.

AB - A novel consensus filter is addressed to solve the multi-agent cooperative problem in the presence of measurement noise, where single-integrator is considered as the model of the agent. Consensus filter is established by modifying the fundamental consensus algorithm to achieve not only the cooperation of state but the attenuation of noise. Initially, the low-pass property of this consensus filter is shown by a specific and fixed topology among the agents. Sequentially, the tracking stability to a dynamic reference is proven by the linear system theory and matrix theory. Due to the communication limit, switching topologies case is also considered. Finally, effectiveness of the proposed algorithm is verified by simulation results.

UR - http://www.scopus.com/inward/record.url?scp=84861491047&partnerID=8YFLogxK

U2 - 10.1109/SECon.2012.6196886

DO - 10.1109/SECon.2012.6196886

M3 - Conference contribution

AN - SCOPUS:84861491047

SN - 9781467313742

T3 - Conference Proceedings - IEEE SOUTHEASTCON

BT - 2012 Proceedings of IEEE SoutheastCon, SOUTHEASTCON 2012

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2012 IEEE SoutheastCon, SOUTHEASTCON 2012

Y2 - 15 March 2012 through 18 March 2012

ER -

Consensus filter on networked single-integrator system

Abstract

Publication series

Conference

Access to Document

Other files and links

Fingerprint

Cite this