RELAXED CONDITIONS FOR CONSENSUS IN MULTI-AGENT COORDINATION

作     者：Qin LI Zhongping JIANG Qin LI Zhongping JIANG Department of Electrical and Computer Engineering,Polytechnic University,Six Metrotech Center,Brooklyn,NY 11201,USA.

作者机构：Department of Electrical and Computer Engineering Polytechnic University Six Metrotech Center Brooklyn NY 11201 USA 

出 版 物：《Journal of Systems Science & Complexity》 (系统科学与复杂性学报（英文版）)

年 卷 期：2008年第21卷第3期

页      面：347-361页

核心收录：

学科分类：0810[工学-信息与通信工程] 1205[管理学-图书情报与档案管理] 12[管理学] 1201[管理学-管理科学与工程(可授管理学、工学学位)] 081104[工学-模式识别与智能系统] 08[工学] 0835[工学-软件工程] 0811[工学-控制科学与工程] 0812[工学-计算机科学与技术（可授工学、理学学位）] 

基　　金：the National Science Foundation under Grant Nos.ECS-0093176 and DMS-0504462 the National Natural Science Foundation of China under Grant 60628302 

主　　题：Averaging protocol consensus multi-agent systems Vicsek's model 

摘      要：This paper proposes relaxed sufficient conditions for the consensus of multi-agent systems by the averaging protocols with time-varying system topology. Bidirectional information exchange between neighboring agents is considered and both the discrete-time and continuous-time consensus protocols are studied. It is shown that the consensus is reached if there exists an unbounded time sequence such that two agents who own the maximum and minimum states at each time instant in the sequence will be jointly connected at some future time. Further, this result is applied to the original nonlinear Vicsek model, and a sufficient condition for the heading consensus of the group with restricted initial conditions is obtained.