Consensus control for a class of networks of dynamic agents

Abstract

SUMMARYIn this paper, the consensus problems for networks of dynamic agents are investigated. The agent dynamics is adopted as a typical point mass model based on the Newton's law. The average-consensus problem is proposed for such class of networks, which includes two aspects, the agreement of the states of the agents and the convergence to zero of the speeds of the agents. A linear consensus protocol for such networks is established for solving such a consensus problem that includes two parts, a local speed feedback controller and the interactions from the finite neighbours. Two kinds of topology are discussed: one is fixed topology, the other is switching one. The convergence analysis is proved and the protocol performance is discussed as well. The simulation results are presented that are consistent with our theoretical results.

Stationary Consensus of Asynchronous Discrete-Time Second-Order Multi-Agent Systems Under Switching Topology

“…Different from the assumption in [22], [36] that the set from which all the weighting factors are chosen is finite, it is assumed in this paper that all the nonzero and thus positive weighting factors are uniformly and upper bounded,…”

“…Also, the unmanned aerial vehicles and underwater vehicles are adjusted for their desired motion directly by their accelerations rather than by their speeds. Progresses toward this direction can be founded in [21], [23], [24], [36], [39], [40], just to name a few. It is worth noting that synchronization of complex dynamical networks, such as small-world and scale-free networks, which is closely related to the multi-agent consensus problem, has also been widely studied (see, e.g., [4], [12], [17], [30]) from different perspectives.…”

Cooperative translation control based on consensus with reference velocity: A source-seeking application

“…Consensus problems with a reference velocity are already studied in [16], [17], [21] for double-integrator dynamics. In the context of a moving circle, the velocity of the center is a given reference denoted by v re f c ∈ R 2 known to all the vehicles.…”

Average Consensus in Networks of Multi-Agent with Multiple Time-Varying Delays

“…Some conclusions also were invesFor consensus pr tigated in [16][17][18]. otocol in (3), communication delay on er, we are interested in discussing the averly affects the agents who are transmitted.…”

“…Multi-vehicle consensus with time-varying reference state was discussed in [11]. Some other issues on consensus problem can be found in [12][13][14][15][16].…”