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Distributed Consensus Control of Multi-Agent Systems With Higher Order Agent Dynamics and Dynamically Changing Directed Interaction Topologies
被引:129
作者:
Su, Shize
[1
]
Lin, Zongli
[1
]
机构:
[1] Univ Virginia, Dept Elect & Comp Engn, Charlottesville, VA 22904 USA
关键词:
Consensus;
distributed control;
higher order controllable linear systems;
multi-agent systems;
switching directed interaction topology;
SWITCHING TOPOLOGY;
FLOCKING;
LEADER;
DELAYS;
D O I:
10.1109/TAC.2015.2444211
中图分类号:
TP [自动化技术、计算机技术];
学科分类号:
0812 ;
摘要:
In 2005, Ren and Beard, under the network connectivity assumption that the union of the directed interaction graphs contains a spanning tree frequently enough, proposed a control protocol to solve the distributed consensus control problem for a multi-agent system with first order integrator agent dynamics. The consensus control protocol for second order systems proposed by the same authors, Ren and Beard, requires that the switching directed interaction graph has a spanning tree at every time instant to guarantee consensus. In this technical note, we propose a distributed consensus control protocol which extends the first order system results of Ren and Beard to agents represented by a general higher order controllable linear system, under the same network connectivity assumption that the union of the directed interaction graphs contains a spanning tree frequently enough. We show that the consensus can be achieved asymptotically by the group of agents under our proposed distributed control protocol. Simulation study illustrates the effectiveness of our proposed method.
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页码:515 / 519
页数:5
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