Open AccessHierarchical nearly cyclic pursuit for consensus in large‐scale multi‐agent systems
Author(s) -
Iqbal Muhammad,
Leth John,
Dung Ngo Trung
Publication year - 2017
Publication title -
iet control theory and applications
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.059
H-Index - 108
eISSN - 1751-8652
pISSN - 1751-8644
DOI - 10.1049/iet-cta.2016.0315
Subject(s) - convergence (economics) , rendezvous , computer science , control theory (sociology) , scale (ratio) , rate of convergence , point (geometry) , mathematical optimization , control (management) , mathematics , artificial intelligence , engineering , telecommunications , aerospace engineering , channel (broadcasting) , physics , geometry , quantum mechanics , economics , spacecraft , economic growth
The authors solve the rendezvous problem of multi‐agent systems using nearly cyclic pursuit (NCP) and hierarchical NCP (HNCP). First, the control law designed under the NCP strategy enables agents to converge at a point dictated by a beacon. Second, they elevate the NCP strategy into the generalised L ‐layer HNCP, so that a large‐scale system under the NCP can be divided into small groups in the hierarchical structure, leading to increasing its convergence rate compared with the original NCP. Finally, they prove that the HNCP strategy with fewer communication links achieves the same convergence rate as the hierarchical cyclic pursuit. They provide simulation results to demonstrate their method.