Consensus under biased alignment

被引：4

作者：

Hyo-Sung Ahn ^{[1
]}

Minh Hoang Trinh ^{[2
]}

机构：

[1] Gwangju Inst Sci & Technol GIST, Sch Mech Engn, Gwangju, South Korea

[2] Hanoi Univ Sci & Technol HUST, Sch Elect Engn, Dept Automat Control, Hanoi, Vietnam

来源：

AUTOMATICA | 2019年 / 110卷

基金：

新加坡国家研究基金会;

关键词：

Consensus; Multi-agent systems; Biased angles; Orientation Alignment; DISTRIBUTED FORMATION CONTROL; OPINION DYNAMICS; NETWORKS;

D O I：

10.1016/j.automatica.2019.108605

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 a consensus problem under the presence of biased alignments in two-dimensional space. The biased alignment studied in this paper may arise, for example, due to a mismatch between the control and sensing directions of the agents. After formulating the problem, we provide some sufficient conditions for consensus or for divergence depending on the biased alignments' magnitude. Moreover, we conduct analyses on convergence characteristics in terms of locations of eigenvalues. Additionally, we study consensus conditions when the biased alignments are time-varying with errors in measured distances. Finally, several extensions of the problem on complete graphs, double-integrator dynamics, and three-dimensional space are also provided. (C) 2019 Elsevier Ltd. All rights reserved.

引用

页数：7

共 23 条

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Ahn H.-S., 2017, ARXIV170902604MATHOC

[2]

Ahn HS, 2017, INT C CONTR AUTOMAT, P283, DOI 10.23919/ICCAS.2017.8204452

[3]

[Anonymous], 2016, P 14 INT C CONTR AUT

[4]

Chen W., 1998, P IEEE 55 C DEC CONT, P985

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