Performance Consensus Problem of Multi-Agent Systems with Multiple State Variables

Naoki HAYASHI  Toshimitsu USHIO  

IEICE TRANSACTIONS on Fundamentals of Electronics, Communications and Computer Sciences   Vol.E91-A   No.9   pp.2403-2410
Publication Date: 2008/09/01
Online ISSN: 1745-1337
DOI: 10.1093/ietfec/e91-a.9.2403
Print ISSN: 0916-8508
Type of Manuscript: Special Section PAPER (Special Section on Nonlinear Theory and its Applications)
Category: Nonlinear System Theory
multi-agent systems,  consensus problem,  algebraic graph theory,  resource allocation,  fair QoS control,  

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A consensus problem has been studied in many fundamental and application fields to analyze coordinated behavior in multi-agent systems. In a consensus problem, it is usually assumed that a state of each agent is scalar and all agents have an identical linear consensus protocol. We present a consensus problem of multi-agent systems where each agent has multiple state variables and a performance value evaluated by a nonlinear performance function according to its current state. We derive sufficient conditions for agents to achieve consensus on the performance value using an algebraic graph theory and the mean value theorem. We also consider an application of a performance consensus problem to resource allocation in soft real-time systems so as to achieve a fair QoS (Quality of Service) level.