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Distributed PID Control for consensus of Homogeneous and Heterogeneous Networks

IEEE TRANSACTIONS ON CONTROL OF NETWORK SYSTEMS 2015年第2期2卷 154-163页

作者： Lombana, Daniel Alberto Burbano di Bernardo, Mario Univ Naples Federico II Dept Elect Engn & Informat Technol I-80125 Naples Italy Univ Bristol Dept Engn Math Bristol BS8 1UB Avon England

We investigate the use of distributed proportional-integral-derivative (PID) actions to achieve consensus in networks of homogeneous and heterogeneous linear systems. Convergence of the strategy is proved for both cases using appropriate state transformations and Lyapunov functions. The effectiveness of the theoretical results is illustrated via its application to a representative power-grid model recently presented in the literature.

关键词： consensus algorithms multi-agent systems network control systems proportional-integral-derivative (PID) control

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consensus seeking in multiagent cooperative control systems with bounded control input

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控制理论与应用（英文版） 2011年第2期9卷 210-214页

作者： Zhang, Shijie Duan, Guangren Center for Control Theory and Guidance Technology Harbin Institute of Technology Harbin Heilongjiang 150001 China

consensus algorithms in multiagent cooperative control systems with bounded control input are studied in this *** algorithms are considered for the single-integrator dynamics and double-integrator dynamics under different communication interaction topologies,and show that consensus is reached asymptotically using the algorithm proposed in this paper for the single-integrator dynamics if the undirected interaction graph is connected,and consensus is reached asymptotically if the directed interaction graph is strongly connected,*** addition,the paper further shows that consensus is reached asymptotically using the algorithm proposed for the double-integrator dynamics if the directed interaction graph is strongly *** effectiveness of these algorithms is demonstrated through simulations.

关键词： consensus algorithms Cooperative control Graph theory Multiagent systems

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CONVERGENCE SPEED IN DISTRIBUTED consensus AND AVERAGING

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SIAM JOURNAL ON CONTROL AND OPTIMIZATION 2009年第1期48卷 33-55页

作者： Olshevsky, Alex Tsitsiklis, John N. MIT Informat & Decis Syst Lab Cambridge MA 02139 USA

We study the convergence speed of distributed iterative algorithms for the consensus and averaging problems, with emphasis on the latter. We first consider the case of a fixed communication topology. We show that a simple adaptation of a consensus algorithm leads to an averaging algorithm. We prove lower bounds on the worst-case convergence time for various classes of linear, time-invariant, distributed consensus methods, and provide an algorithm that essentially matches those lower bounds. We then consider the case of a time-varying topology, and provide a polynomial-time averaging algorithm.

关键词： consensus algorithms distributed averaging cooperative control

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Privacy-Informed consensus-Based Secondary Control in Cyber-Physical DC Microgrids

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IEEE CONTROL SYSTEMS LETTERS 2023年 7卷 2089-2094页

作者： Sadabadi, Mahdieh S. Queen Mary Univ London Sch Elect Engn & Comp Sci London E1 4NS England Univ Manchester Dept Elect & Elect Engn Manchester M13 9PL England

This letter proposes a privacy-informed consensus-based distributed secondary control strategy for cyber-physical dc microgrids. The proposed secondary control approach relies on output masks that transform the physical states of distributed generation (DG) units to some auxiliary states by adding local perturbation signals, whose functional form and parameters are local and chosen independently by each DG unit. The proposed privacy-preserving secondary control scheme ensures voltage balancing and proportional current sharing in dc microgrids without disclosing the physical states of distributed generation units to their neighbors. Simulation case studies confirm the theoretical results of this letter.

关键词： DC microgrids consensus algorithms distributed secondary control privacy-preserving control

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Maximum-Based consensus and Its Resiliency

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IFAC-PapersOnLine 2018年第23期51卷 283-288页

作者： Nakamura, Masahiro Ishii, Hideaki Dibaji, Seyed Mehran Department of Computer Science Tokyo Institute of Technology Yokohama226-8502 Japan Department of Mechanical Engineering Massachusetts Institute of Technology CambridgeMA02139 United States

In this paper, we consider the maximum-value based approach towards the resilient consensus problem. The network consists of agents with unknown identities having faults or malicious intentions. Their objective is to prevent the nonfaulty, normal agents from reaching consensus. We extend our recent results on resilient versions of consensus algorithms where at updates, the agents ignore some of the neighbor values to avoid being influenced by the malicious agents. In particular, the normal agents attempt to converge at the maximum value of their initial states. The main advantage of this maximum-based approach is the fast convergence which is shown to be finite. We deal with both the synchronous and asynchronous update schemes. In our analysis, we characterize the graph theoretic conditions for the proposed algorithm to achieve resilient consensus. The advantages of the approach are illustrated by means of a numerical example. © 2018

关键词： Graph theory Asynchronous update consensus algorithms consensus problems Fast convergence Graph theoretic Initial state Malicious agent Value based approach

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Distributed consensus for Multiple Rigid-Bodies Based on Unit Dual Quaternion

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IFAC-PapersOnLine 2015年第11 11期48卷 616-621页

作者： Wang, Yinqiu Lu, Renquan Wang, Jianzhong Xue, Anke School of Automation Hangzhou Dianzi University HangzhouZhejiang310018 China

This paper addresses the distributed consensus problem for multiple rigid-bodies under directed communication topology having a spanning tree with the tool of unit dual quaternion. The dynamics of rigid-bodies in 3-D are represented by unit dual quaternion with notion concision and nonsingularity. A distritbuted consensus algorithm is proposed to control attitudes and positions of all rigidbodies to the same values. We also expand the leaderless distributed algorithm to tracking consensus case with a static leader. Finally, the proposed control algorithms are simulated to illustrate the theoretical results. © 2015

关键词： Rigid structures Communication topologies consensus algorithms Distributed consensus Dual quaternion Multiple rigid bodies Non linear control Nonsingularity Rigid body

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consensus meshing

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COMPUTERS & GRAPHICS-UK 2012年第5期36卷 488-497页

作者： Schmidt, Ryan Simari, Patricio Autodesk Research Canada

Consider an algorithm for generating a triangle mesh interpolating a fixed set of 3D point samples, where the generated triangle set varies depending on some underlying parameters. In this paper we treat such an algorithm as a means of sampling the space of possible interpolant meshes, and then define a more robust algorithm based on drawing multiple such samples from this process and averaging them. As mesh connectivity graphs cannot be trivially averaged, we compute triangle statistics and then attempt to find a set of compatible triangles which maximize agreement between the sample meshes while also forming a manifold mesh. Essentially, each sample mesh "votes" for triangles, and hence we call our result a consensus mesh. Finding the optimal consensus mesh is combinatorially intractable, so we present an efficient greedy algorithm. We apply this strategy to two mesh generation processes-ball pivoting and localized tangent-space Delaunay triangulations. We then demonstrate that consensus meshing enables a generic decomposition of the meshing problem which supports trivial parallelization. (C) 2012 Elsevier Ltd. All rights reserved.

关键词： Mesh generation Remeshing consensus algorithms

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MESA: A Formal Approach to Compute consensus in WSNs 6

MESA: A Formal Approach to Compute Consensus in WSNs

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Sixth Argentine Conference on Embedded Systems (CASE)

作者： Zacchigna, Federico G. Lutenberg, Ariel Vargas, Fabian Univ Buenos Aires Lab Sistemas Embebidos Fac Ingn Paseo Colon 850 Buenos Aires DF Argentina Catholic Univ PUCRS Dept Elect Engn SiSC Grp Porto Alegre RS Brazil

ISBN: (纸本)9789874552358

consensus algorithms are implemented over Wireless Sensor Networks (WSN) for computing a distributed variable measurement or performing Data Fusion (DF). In a previous work the main idea of the MESA algorithm presented, but with no mathematical formalization. The MESA approach is a novel consensus algorithm that implements the transmission censoring technique aiming to reduce the energy used for reaching consensus. Moreover, it makes use of neighborhood data, which allows it to perform estimations over unknown distributed variables. This condition renders the proposed approach more efficient than the existing censoring techniques found in the literature. In this article a formalization of the MESA algorithm over cluster based WSN is presented. It is addressed from the statistical point of view of the algorithm, which gives us a better understanding of the consequences of transmission censoring and leads us to predict the results of its utilization.

关键词： sensor fusion wireless sensor networks DF MESA WSNs consensus algorithms data fusion distributed variable measurement energy reduction formal approach transmission censoring technique Computer aided software engineering Conferences Electronic publishing Embedded systems Estimation IEEE catalogs Wireless sensor networks Wireless sensor networks computer aided software engineering Electronic Publishing Data fusion Energy conservation Sensor fusion Embedded systems DEUTERIUM FLUORIDES data integration mesas

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An Energy-efficient FaaS Edge Computing platform over IoT Nodes: Focus on consensus Algorithm 23

An Energy-efficient FaaS Edge Computing platform over IoT No...

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38th Annual ACM Symposium on Applied Computing (ACM SAC)

作者： Blanco, David Fernandez Le Mouel, Frederic Ponge, Julien Lin, Trista Univ Lyon INSA LYON INRIA CITIEA3720 F-69621 Villeurbanne France STELLANTIS F-78140 Velizy Villacoublay France Red Hat Lyon France

ISBN: (纸本)9781450395175

With the increasing computing needs of the new systems and applications, cloud offloading has become a popular choice for constructors to keep the prices of their devices affordable. However, this solution only shifts the scaling problem from the end devices to the cloud, increasingly enhancing the capacities of cloud infrastructures. As a way to reinforce the cloud capabilities on the edge without needing to add extra computing resources, we propose PyCloudIoT, a collaborative energy-efficient Function-as-a-Service (FaaS) computing platform (pltf.) with low-to-medium availability targeting the execution of punctual stateless functions over the already deployed IoTs and gateways. As these resources are extremely dynamic, with intermittent availability, heterogeneity and faultiness, the addition of strong control mechanisms is key to efficient operation. In this paper, we discuss the PyCloudIoT consensus Model (PCM), which enables the coordination and orchestration of resources dynamically and compensates for the faults of the IoT computing farm. Compared to SOTA, PCM shows promising results with a performance and energy consumption improvement of 20% and 66% and 37% and 65% respectively compared to the best configurations of Raft and Pirogue (4+1 quorum), achieving at the same time a slightly stronger fault tolerance level.

关键词： consensus algorithms FaaS Edge Computing Internet of Things Distributed Computing Resource Orchestration

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An Improved PBFT-based consensus for Securing Traffic Messages in VANETs 12

An Improved PBFT-based Consensus for Securing Traffic Messag...

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12th International Conference on Information and Communication Systems (ICICS)

作者： Diallo, El-hacen Dib, Omar Al Agha, Khaldoun Univ Paris Saclay Lab Interdisciplinaire Sci Numer CNRS F-91190 Gif Sur Yvette France Wenzhou Kean Univ Wenzhou Peoples R China

ISBN: (纸本)9781665433518

With the increasing number of autonomous vehicles, more intelligent applications and services are needed to build an efficient transportation system. That cannot be achieved without having an efficient and secure model for recording and sharing traffic-related data. Because of its important features in terms of architecture decentralization, data immutability, transparency of actions, and communications security, the blockchain technology has recently been proposed to mitigate early VANETs (Vehicular Ad Hoc Networks) designs' security issues. In this work, we design a new consensus protocol based on Practical Byzantine Fault Tolerance (PBFT), aiming at proposing a secure traffic-related data sharing system in VANETs. The proposed consensus intelligently selects a set of Road Side Units (RSUs) to validate the traffic events emitted by vehicles and subsequently maintain the blockchain ledger to further exploit its immutable data. In this paper, we also introduce the concept of micro-transactions to reduce the size of the blockchain ledger and minimize the communications overhead between nodes. The performance of the proposed solution is assessed by simulating real-world VANETs' settings. The experimental results validate the proposed work's high performance in terms of blockchain throughput, latency, communication load, and storage cost.

关键词： Blockchain Vehicular networks consensus algorithms PBFT Blockchain simulation

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