Second-order Consensus of Nonlinear Multi-agent Systems with Heterogeneous Topologies

被引：0

作者：

Gao, Li ^{[1
]}

Wang, Yinqiu ^{[1
]}

Wang, Jian ^{[1
]}

Yu, Fengmin ^{[2
]}

机构：

[1] HangZhou DianZi Univ, Sch Automat, Hangzhou 310000, Zhejiang, Peoples R China

[2] HangZhou DianZi Univ, Hangzhou 310000, Zhejiang, Peoples R China

来源：

PROCEEDINGS OF THE 28TH CHINESE CONTROL AND DECISION CONFERENCE (2016 CCDC) | 2016年

关键词：

Multi-agent; Second-order; Nonlinear Systems; Heterogeneous Topologies; DOUBLE-INTEGRATOR DYNAMICS; SWITCHING TOPOLOGY; AGENTS; COORDINATION;

D O I：

暂无

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 focuses on the consensus of multi-agent systems with unknown nonlinear dynamics under heterogenous topologies. The stability analysis is based on Lyapunov method and graph theory. Sufficient conditions in terms of linear matrix inequality (LMI) are given to guarantee the consensus of the multi-agent systems. The algorithms of none-zero velocity consensus and the zero velocity consensus are provided in this paper. We give two simulations at the end of this paper, showing the states of positions and velocities of all agents can reach consensus, under the proposed control laws.

引用

页码：1735 / 1740

页数：6

共 29 条

[1]

[Anonymous], 1994, LINEAR MATRIX INEQUA

[2] Second-order consensus of nonlinear multi-agent systems with restricted switching topology and time delay [J].

Chen, Kairui ;

Wang, Junwei ;

Zhang, Yun ;

Liu, Zhi .

NONLINEAR DYNAMICS, 2014, 78 (02) :881-887

[3]

Dong W. J., 2011, IEEE T SYSTEMS MAN B

[4] Information flow and cooperative control of vehicle formations [J].

Fax, JA ;

Murray, RM .

IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2004, 49 (09) :1465-1476

[5] Consensus of first-order multi-agent systems with intermittent interaction [J].

Gao, Yanping ;

Liu, Bo ;

Yu, Junyan ;

Ma, Jingwei ;

Jiang, Tongqiang .

NEUROCOMPUTING, 2014, 129 :273-278

[6]

Ghabcheloo R, 2007, IEEE DECIS CONTR P, P5046

[7] CONSENSUS FOR AGENTS WITH DOUBLE INTEGRATOR DYNAMICS IN HETEROGENEOUS NETWORKS [J].

Goldin, D. ;

Raisch, J. .

ASIAN JOURNAL OF CONTROL, 2014, 16 (01) :30-39

[8] Group consensus for heterogeneous multi-agent systems with parametric uncertainties [J].

Hu, Hong-xiang ;

Yu, Wenwu ;

Xuan, Qi ;

Zhang, Chun-guo ;

Xie, Guangming .

NEUROCOMPUTING, 2014, 142 :383-392

[9] Consensus control for multi-agent systems with double-integrator dynamics and time delays [J].

Hu, J. ;

Lin, Y. S. .

IET CONTROL THEORY AND APPLICATIONS, 2010, 4 (01) :109-118

[10] Leader-foll owing coordination of multi-agent systems with coupling time delays [J].

Hu, Jiangping ;

Hong, Yiguang .

PHYSICA A-STATISTICAL MECHANICS AND ITS APPLICATIONS, 2007, 374 (02) :853-863

← 1 2 3 →