Consensus of heterogeneous first‐ and second‐order multi‐agent systems with directed communication topologies

Abstract

SummaryIn this paper, we consider the consensus problem for heterogeneous multi‐agent systems composed of some first‐order and some second‐order dynamic agents in directed communication graphs. Consensus protocols are proposed for the second‐ and first‐order dynamic agents, respectively. Under certain assumptions on the control parameters, for fixed communication topologies, necessary and sufficient conditions for consensus are given, and the consensus values of all agents are established. For switching topologies, sufficient conditions are given for all agents to reach consensus. Finally, simulation examples are presented to demonstrate the effectiveness of the proposed methods. Copyright © 2013 John Wiley & Sons, Ltd.

Group consensus control for heterogeneous multi-agent systems with fixed and switching topologies

“…The existing literatures about consensus problems of heterogeneous multi-agent systems mainly consider the mix of first-order and second-order systems. In Zheng and Wang (2012) and Feng et al (2015), the authors studied the consensus problems of heterogeneous multi-agent systems consisting of first-order and second-order agents with and without velocity measurements, and proposed a class of saturated consensus algorithm. In Kim et al (2011), the consensus problem of uncertain linear heterogeneous multi-agent systems is studied.…”

Consensus of heterogeneous multi-agent systems with switching jointly-connected interconnection

“…Then the consensus problem 3 of heterogeneous multi-agent systems with directed communication graphs was investigated in Ref. [24]. And the consensus 4 problem of heterogeneous multi-agent systems composed of first-order, second-order and nonlinear Euler-Lagrange agents 5 was considered in Ref.…”

“…The following assumptions hold: 23 1. f is measurable in t for fixed x and continuous in x for fixed t; 24 2. 0 ∈ Ω, f (t, 0) = 0, ∀t; + s(p); t, p)) < V (p).…”

“…To realize this objective, we use the following neighbor-based 24 feedback control law: 26 where k 1 > 0 and k 2 > 0 are feedback gains. 27 Let…”

Robust adaptive consensus tracking for higher‐order multi‐agent uncertain systems with nonlinear dynamics via distributed intermittent communication protocol

“…second-order integrator dynamics [13][14][15][16]. Only a few results addressed the higher-order systems.…”