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Robust consensus algorithm for multi-agent systems with exogenous disturbances under convergence conditions

INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE 2014年第9期45卷 1869-1879页

作者： Jiang, Yulian Liu, Jianchang Tan, Shubin Ming, Pingsong Northeastern Univ Coll Informat Sci & Engn Shenyang 110819 Liaoning Peoples R China Northeastern Univ State Key Lab Synthet Automat Proc Ind Shenyang 110819 Liaoning Provin Peoples R China

In this paper, a robust consensus algorithm is developed and sufficient conditions for convergence to consensus are proposed for a multi-agent system (MAS) with exogenous disturbances subject to partial information. By utilizing H-infinity robust control, differential game theory and a design-based approach, the consensus problem of the MAS with exogenous bounded interference is resolved and the disturbances are restrained, simultaneously. Attention is focused on designing an H-infinity robust controller (the robust consensus algorithm) based on minimisation of our proposed rational and individual cost functions according to goals of the MAS. Furthermore, sufficient conditions for convergence of the robust consensus algorithm are given. An example is employed to demonstrate that our results are effective and more capable to restrain exogenous disturbances than the existing literature.

关键词： H-infinity robust control differential game multi-agent system consensus algorithm convergence conditions

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consensus-based dispatch optimization of a microgrid considering meta-heuristic-based demand response scheduling and network packet loss characterization

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Energy and AI 2023年第1期11卷 71-89页

作者： Ali M.Jasim Basil H.Jasim Soheil Mohseni Alan C.Brent Electrical Engineering Department University of BasrahBasrah61001Iraq Department of Communications Engineering Iraq University CollegeBasrahIraq Sustainable Energy Systems Wellington Faculty of EngineeringVictoria University of WellingtonWellington6140New Zealand Department of Industrial Engineering and the Centre for Renewable and Sustainable Energy Studies Stellenbosch UniversityStellenbosch7600South Africa

The uncertainty inherent in power load forecasts represents a major factor in the mismatches between supply and demand in renewables-rich electricity networks, which consequently increases the energy bills and curtailed generation. As the transition to a power grid founded on the so-called grid-of-grids becomes more evident, the need for distributed control algorithms capable of handling computationally challenging problems in the energy sector does so as well. In this light, the consensus-based distributed algorithm has recently been shown to provide an effective platform for solving the complex energy management problem in microgrids. More specifically, in a microgrid context, the consensus-based distributed algorithm requires reliable information exchange with customers to achieve convergence. However, packet losses remain an important issue, which can potentially result in the failure of the overall system. In this setting, this paper introduces a novel method to effectively characterize such packet losses during information exchange between the customers and the microgrid operator, whilst solving the microgrid scheduling optimization problem for a multi-agent-based microgrid. More specifically, the proposed framework leverages the virulence optimization algorithm and the earth-worm optimization algorithm to optimally shift the energy consumption during peak periods to lower-priced off-peak hours. The effectiveness of the proposed method in minimizing the overall active power mismatches in the presence of packet losses has also been demonstrated based on benchmarking the results against the business-as-usual iterative scheduling algorithm. Also, the robustness of the overall meta-heuristic- and multi-agent-based method in producing optimal results is confirmed based on comparing the results obtained by several well-established meta-heuristic optimization algorithms, including the binary particle swarm optimization, the genetic algorithm, and the cuckoo search op

关键词： Demand-side management Optimal scheduling Microgrids Distribution generation consensus algorithm Meta-heuristics

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ReVo: A Hybrid consensus Protocol for Blockchain in the Internet of Things through Reputation and Voting Mechanisms 21

ReVo: A Hybrid Consensus Protocol for Blockchain in the Inte...

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IEEE 21st Consumer Communications and Networking Conference (CCNC)

作者： Barke, Shivam Srivastava, Gautam Brandon Univ Dept Math & Comp Sci Brandon MB Canada

ISBN: (纸本)9798350304572

In the realm of the Internet of Things (IoT), integrating blockchain technology has brought about significant enhancements in security and transparency. Nevertheless, the union of these two domains grapples with persistent challenges in performance and scalability. A dilemma confronts developers and researchers: the intricate interplay between security, scalability, and performance in various consensus protocols tailored for implementing blockchain within IoT ecosystems. This research paper proposes an innovative consensus protocol to tackle these challenges while striking an optimal equilibrium among these tripartite factors. Central to this proposal is introducing a hybrid architectural framework that bridges the world of IoT devices and cloud service providers via distinct regional entities, all united in the objective of consensus through a novel voting mechanism hinged on reputation-based mechanisms. The core of this voting mechanism is a dynamic ensemble of nodes, each endowed with unique roles - encompassing ordinary nodes, verifiers, and assemblers. The protocol employs a random selection mechanism through a verifiable random function (VRF) to designate assemblers, ensuring a level playing field. At the heart of the reputation model lies an analysis of region-specific traffic patterns, granting privileges to nodes that demonstrate trustworthy behaviour and high rates of request fulfillment. Extending this framework is an incentive mechanism designed to maintain the network's organic and dynamic allocation of roles. Simulation results benchmarked against Ethereum provide results of the ReVo consensus protocol for latency and transaction throughput. This paper also analyses the protocol working through a novel use case of Taxi Providers and Taxi Ride Consumer Services.

关键词： Blockchain consensus algorithm Reputation Internet Of things Hybrid blockchain Voting

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consensus-based vehicle platoon control considering human physiological-psychological comfort 35

Consensus-based vehicle platoon control considering human ph...

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IEEE Intelligent Vehicles Symposium (IV)

作者： Liu, Ling Zhao, Hang Li, Yongfu Huang, Longwang Huang, Xin Chongqing Univ Posts & Telecommun Coll Automat Chongqing 400065 Peoples R China Chongqing Univ Posts & Telecommun Coll Automat Key Lab Intelligent Air Ground Cooperat Control U Chongqing 400065 Peoples R China

ISBN: (纸本)9798350348811;9798350348828

This paper presents a novel consensus control algorithm for a vehicle platoon, taking into account human physiological-psychological comfort. To this end, this paper incorporates state constraints into the optimal velocity-based platoon controller, which can effectively improve the comfort and consensus. Moreover, this paper employs the barrier Lyapunov function (BLF) to prove the stability of the proposed controller, providing more strict stability guarantees. According to theoretical analysis, numerical experiments are conducted to demonstrate the performance of the proposed control algorithm and the benchmark algorithm. The comparative results show that the proposed control algorithm can produce better-uniformed states and bounded state errors.

关键词： Vehicle platoon control consensus algorithm physiological-psychological comfort barrier Lyapunov function

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A Novel Square-Root Cubature Information Weighted consensus Filter algorithm for Multi-Target Tracking in Distributed Camera Networks

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SENSORS 2015年第5期15卷 10526-10546页

作者： Chen, Yanming Zhao, Qingjie Beijing Inst Technol Sch Comp Sci Beijing Key Lab Intelligence Informat Technol Beijing 100081 Peoples R China

This paper deals with the problem of multi-target tracking in a distributed camera network using the square-root cubature information filter (SCIF). SCIF is an efficient and robust nonlinear filter for multi-sensor data fusion. In camera networks, multiple cameras are arranged in a dispersed manner to cover a large area, and the target may appear in the blind area due to the limited field of view (FOV). Besides, each camera might receive noisy measurements. To overcome these problems, this paper proposes a novel multi-target square-root cubature information weighted consensus filter (MTSCF), which reduces the effect of clutter or spurious measurements using joint probabilistic data association (JPDA) and proper weights on the information matrix and information vector. The simulation results show that the proposed algorithm can efficiently track multiple targets in camera networks and is obviously better in terms of accuracy and stability than conventional multi-target tracking algorithms.

关键词： cubature Kalman filter information filter consensus algorithm multi-target tracking distributed camera networks

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An Anonymous Authentication Scheme for Internet of Vehicles Based on TRUG-PBFT Main-Secondary Chains and Zero-Knowledge Proof

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IEEE INTERNET OF THINGS JOURNAL 2025年第7期12卷 7763-7777页

作者： Jiang, Wenxian Guo, Zhenping Huaqiao Univ Coll Comp Sci & Technol Xiamen 361000 Peoples R China

The application of Internet of Vehicles (IoV) technology has greatly improved users' driving experience, but it also faces some challenges: 1) the central server is not powerful enough to support the rapid growth of IoV identity authentication requests and 2) there is a privacy leakage issue during vehicle authentication. To address these issues, we propose an anonymous authentication scheme based on trustworthy roadside unit group (TRUG)-PBFT main secondary chains and zero-knowledge proof (ZKP). First, to enhance authentication efficiency, we propose the TRUG-PBFT consensus algorithm. It improves the traditional PBFT by optimizing the PBFT consensus process, reducing the number of consensus nodes using fractional grouping, and selecting main node using verifiable random functions (VRFs). Second, we use a lattice-based ZKP scheme to achieve anonymous authentication of vehicles, and important data in the vehicle authentication process is stored by the main chain maintained by the base station group and the secondary chain maintained by the roadside unit group. Finally, experimental results demonstrate that compared to PBFT consensus, TRUG-PBFT in terms of consensus efficiency is improved by approximately 33%, and the authentication scheme's computational cost is only 7.08 ms, superior to existing authentication schemes.

关键词： Authentication Servers Security Blockchains Privacy consensus algorithm Elliptic curve cryptography Main-secondary Internet of Vehicles Zero knowledge proof Anonymous authentication blockchain consensus algorithm Internet of Vehicles (IoV) zero-knowledge proof (ZKP)

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Adaptive Clustering Hierarchical PBFT algorithm for Secure and Efficient Blockchain-Based IoT Edge Computing

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IEEE SENSORS JOURNAL 2025年第2期25卷 3252-3266页

作者： Zheng, Jiali Xie, Jincheng Su, Yanting Guangxi Univ Sch Comp Elect & Informat Guangxi Key Lab Multimedia Commun & Network Techno Nanning 530004 Guangxi Peoples R China

With the rapid development of the Internet of Things (IoT), the importance of data transmission security and efficiency has become increasingly significant. Traditional consensus mechanisms, particularly, the practical Byzantine fault-tolerance (PBFT) algorithm, face notable challenges in the context of blockchain-based edge computing due to scalability issues. Specifically, as the number of nodes increases, PBFT experiences high communication complexity, which leads to significant performance degradation. To tackle this challenge, this article proposes a novel consensus algorithm named adaptive clustering hierarchical-PBFT (ACH-PBFT) that employs a hierarchical cluster structure and node fault-tolerance check to enhance the security and efficiency of blockchain-based edge computing in the IoT. ACH-PBFT adaptively selects an appropriate primary node and forms multiple subnode clusters, facilitating a more scalable consensus process. The system reduces the probability of malicious nodes becoming primary nodes through mutual verification between the primary node cluster and the subcluster consensus. Experimental results indicate that the ACH-PBFT algorithm achieves a 19.83% increase in execution speed, a 23.67% improvement in throughput, and an average reduction of 23.05% in communication overhead compared with a similar double-layer PBFT algorithm lacking hierarchical clustering. In the experiments testing against malicious nodes, the ACH-PBFT algorithm exhibited an average increase of 24.73% in the probability of successfully achieving consensus. Overall, this research provides a practical and effective solution for implementing secure and efficient blockchain-based IoT edge computing using a multilayer architecture to achieve flexible deployment and efficient resource utilization in edge computing environments.

关键词： Blockchains Internet of Things Clustering algorithms Edge computing Security Scalability Fault tolerant systems Fault tolerance consensus protocol Heuristic algorithms Blockchain consensus algorithm Internet-of-Things (IoT) edge computing multilayer architecture practical Byzantine fault tolerance (PBFT)

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Enhancing IoT Data Security with Lightweight Blockchain and Okamoto Uchiyama Homomorphic Encryption

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Computer Modeling in Engineering & Sciences 2024年第2期138卷 1731-1748页

作者： Mohanad A.Mohammed Hala B.Abdul Wahab Computer Science Department The University of TechnologyBaghdadIraq

Blockchain technology has garnered significant attention from global organizations and researchers due to its potential as a solution for centralized system ***,the Internet of Things(IoT)has revolutionized the Fourth Industrial Revolution by enabling interconnected devices to offer innovative services,ultimately enhancing human *** paper presents a new approach utilizing lightweight blockchain technology,effectively reducing the computational burden typically associated with conventional blockchain *** integrating this lightweight blockchain with IoT systems,substantial reductions in implementation time and computational complexity can be ***,the paper proposes the utilization of the Okamoto Uchiyama encryption algorithm,renowned for its homomorphic characteristics,to reinforce the privacy and security of IoT-generated *** integration of homomorphic encryption and blockchain technology establishes a secure and decentralized platformfor storing and analyzing sensitive data of the supply chain *** platformfacilitates the development of some business models and empowers decentralized applications to perform computations on encrypted data while maintaining data *** results validate the robust security of the proposed system,comparable to standard blockchain implementations,leveraging the distinctive homomorphic attributes of the Okamoto Uchiyama algorithm and the lightweight blockchain paradigm.

关键词： Blockchain IoT integration of IoT and blockchain consensus algorithm Okamoto Uchiyama homomorphic encryption lightweight blockchain

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Optimal Frequency Control for Inverter-Based Micro-Grids Using Distributed Finite-Time consensus algorithms

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IEEE ACCESS 2020年 8卷 185243-185252页

作者： Cao, Qian Xie, Weicheng Chongqing Univ Sch Automat Chongqing 401331 Peoples R China Xihua Univ Sch Elect Engn Chengdu 610039 Peoples R China

This paper addresses the distributed frequency control and economic dispatch problem of micro-grid systems. The optimal frequency control problem is formulated considering both frequency regulation and generation cost minimization, by establishing an equivalent nonlinear second-order dynamic model. A distributed finite-time consensus protocol is proposed to solve the optimal frequency regulation problem based on the equivalent model. Despite the nonlinear dynamics, the system frequency converges to the nominal value and the economic dispatch is achieved both in finite time. It is proved that the equilibrium point of the closed-loop system is the unique optimal solution to the associated economic dispatch problem. Simulation results verify the theoretical analysis and demonstrate the effectiveness of the proposed control method.

关键词： Frequency control Economics Generators Convergence Power generation Heuristic algorithms consensus algorithm Distributed finite-time control frequency control economic dispatch problem micro-grid hierarchical control

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Distributed Maximum consensus over Noisy Links 32

Distributed Maximum Consensus over Noisy Links

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32nd European Signal Processing Conference (EUSIPCO)

作者： Lari, Ehsan Arablouei, Reza Venkategowda, Naveen K. D. Werner, Stefan Norwegian Univ Sci & Technol Dept Elect Syst Trondheim Norway CSIROs Data61 Pullenvale Qld 4069 Australia Linkoping Univ Dept Sci & Technol Norrkoping Sweden

ISBN: (纸本)9789464593617;9798331519773

We introduce a distributed algorithm, termed noise-robust distributed maximum consensus (RD-MC), for estimating the maximum value within a multi-agent network in the presence of noisy communication links. Our approach entails redefining the maximum consensus problem as a distributed optimization problem, allowing a solution using the alternating direction method of multipliers. Unlike existing algorithms that rely on multiple sets of noise-corrupted estimates, RD-MC employs a single set, enhancing both robustness and efficiency. To further mitigate the effects of link noise and improve robustness, we apply moving averaging to the local estimates. Through extensive simulations, we demonstrate that RD-MC is significantly more robust to communication link noise compared to existing maximum-consensus algorithms.

关键词： consensus algorithm

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