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Consensus on open networked multi-agent systems
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AI
DOI：10.1016/j.sysconle.2026.106470.png)
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Abstract
En 中文
Accounting for agent joining and removal gains theoretical and practical benefits while challenges remain. This paper studies the consensus problem of networked multi-agent systems over undirected graphs, where agent removal and joining may arise. To this end, a tool based on the coupled activation-dynamic Laplacian model is used to characterize the fluctuation of interacting agents in the communication topology. Subsequently, the average dwell time is employed to establish a uniform configuration for open networked multi-agent systems. It is shown that consensus of the underlying system is achieved if the average dwell time condition is satisfied and the communication topology remains jointly connected. The effectiveness of the derived theoretical results is validated through both a numerical example and a multi-UAV system where the desired formation is maintained, even though UAV removal and joining occur.
Keywords:
Open multi-agent systems
Consensus control
Switching topologies
Average dwell time
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2.5
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161
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