Consensus Algorithm for Weighted Multi-Agent Systems

Abstract

Multi-Agent systems are used to perform tasks which are difficult to for a single autonomous agent. In real time multi-agent system each agents will have some specific weights which may not be the same for all agents. To meet consensus for such multi-agent system new Weighted Consensus Algorithms are designed. Now to achieve consensus, few network criteria are needed to be fulfilled. The Consensus Algorithms are analyzed for weighted multi-agent systems. The necessary and sufficient conditions are proved for all type of multi-agent systems. The Consensus is ensured by using Lyapunov Functions. Further least number of input agents are found to control all the different type of weighted multi-agent systems. The new consensus algorithms shows proper result for different types of weighted multi-agent systems.