Finite-time consensus of heterogeneous multi-agent systems with and without velocity measurements

被引：261

作者：

Zheng, Yuanshi ^{[1
]}

Wang, Long ^{[2
]}

机构：

[1] Xidian Univ, Sch Mechanoelect Engn, Ctr Complex Syst, Xian 710071, Peoples R China

[2] Peking Univ, Coll Engn, Ctr Syst & Control, Beijing 100871, Peoples R China

来源：

SYSTEMS & CONTROL LETTERS | 2012年 / 61卷 / 08期

关键词：

Heterogeneous multi-agent systems; Finite-time consensus; Velocity measurements; Graph theory; DOUBLE-INTEGRATOR DYNAMICS; AGENTS; ALGORITHMS; STABILIZATION; TOPOLOGIES; NETWORKS; DELAYS;

D O I：

10.1016/j.sysconle.2012.05.009

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper studies the finite-time consensus problem of heterogeneous multi-agent systems composed of first-order and second-order integrator agents. By combining the homogeneous domination method with the adding a power integrator method, we propose two classes of consensus protocols with and without velocity measurements. First, we consider the protocol with velocity measurements and prove that it can solve the finite-time consensus under a strongly connected graph and leader-following network, respectively. Second, we consider the finite-time consensus problem of heterogeneous multi-agent systems, for which the second-order integrator agents cannot obtain the velocity measurements for feedback. Finally, some examples are provided to illustrate the effectiveness of the theoretical results. (C) 2012 Elsevier B.V. All rights reserved.

引用

页码：871 / 878

页数：8

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