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Maximizing Convergence Speed for second order consensus in Leaderless Multi-Agent Systems

IEEE/CAA Journal of Automatica Sinica 2022年第2期9卷 259-269页

作者： Gianvito Difilippo Maria Pia Fanti Agostino Marcello Mangini Department of Electrical and Information Engineering Polytechnic University of BariBari 70125Italy IEEE

The paper deals with the consensus problem in a leaderless network of agents that have to reach a common velocity while forming a uniformly spaced ***,the final common velocity(reference velocity)is determined by the agents in a distributed and leaderless ***,the consensus protocol parameters are optimized for networks characterized by a communication topology described by a class of directed graphs having a directed spanning tree,in order to maximize the convergence rate and avoid *** advantages of the optimized consensus protocol are enlightened by some simulation results and comparison with a protocol proposed in the related *** presented protocol can be applied to coordinate agents such as mobile robots,automated guided vehicles(AGVs)and autonomous vehicles that have to move with the same velocity and a common inter-space gap.

关键词： consensus protocols directed spanning tree multiagent systems networked systems second-order consensus

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second-order consensus of discrete-time multi-agent systems via one-step delayed data

Second-order consensus of discrete-time multi-agent systems ...

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第26届中国控制与决策会议

作者： Guang-Hui Xu Ji-Shi Zhang Rui-Quan Liao Ding-Xue Zhang Zhi-Hong Guan College of Automation Huazhong University of Science and Technology School of Software Henan University Petroleum Engineering College Yangtze University

This paper considers the second-order consensus problem of discrete-time multi-agent systems over fixed and undirected network topologies. A distributed consensus protocol utilizing the current and one-step delayed position information is proposed. It is interesting to found that second-order consensus in such a discrete-time multi-agent system cannot be ensured without any one-step delayed position data while it can be reached by appropriately choosing the sampling interval and the coupling strength with one-step delayed position data. A necessary and sufficient condition for reaching second-order consensus in a discrete-time multi-agent dynamical system on the sampling interval, the control gain parameters and the eigenvalues of the Laplacian matrix has been established under fixed and undirected ***, numerical examples are given to illustrate the theoretical analysis.

关键词： second-order consensus Multi-agent systems Sampling interval One-step delayed data

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second-order consensus for Nonlinear Multi-Agent Systems with Intermittent Measurements

Second-Order Consensus for Nonlinear Multi-Agent Systems wit...

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2011 Chinese Control and Decision Conference（CCDC）

作者： Guanghui Wen,Zhisheng Duan are with the State Key Lab for Turbulence and Complex Systems and the Department of Mechanics and Aerospace Engineering,College of Engineering,Peking University,Beijing 100871,China Guanrong Chen is with the Department of Electronic Engineering,City University of Hong Kong,Hong Kong SAR,China Wenwu Yu is with the Department of Mathematics,Southeast University,Nanjing 210096,China

In this paper,the consensus problem is investigated for a class of second-order nonlinear multi-agent systems with intermittent measurements and directed topology.A novel protocol designed based only on the intermittent local feedback is introduced to guarantee the states of multiple agents to *** virtue of the Lyapunov control approach,it is theoretically proved that second-order consensus can be achieved exponentially if the general algebraic connectivity and the communication time duration are larger than their corresponding threshold values ***,a simulation example is given to verify the theoretical analysis.

关键词： Multi-agent system second-order consensus Intermittent measurement Directed topology

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Position Deviation Based second-order consensus in Multiple Vehicle Systems

Position Deviation Based Second-Order Consensus in Multiple ...

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第26届中国控制与决策会议

作者： Jie Quan Guoping Jiang College of Automation Nanjing University of Posts and Telecommunications

ISBN: (纸本)9781479937097

For second-order dynamic model of multi-vehicle system, we investigate a second-order consensus protocol for the system in the case of collecting information without time-delay. By introducing position tracking value, we propose a simple second-order consensus protocol, making the states of each vehicle converge to the given tracking values. The necessary and sufficient condition under which second-order consensus can be reached is derived by using the system stability theory. The second consensus is then applied to the multiple vehicle systems with four vehicles as an illustrative example.

关键词： Multiple vehicle systems second-order consensus Position tracking value Lyapunov indirect discrimination

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Multi-agent consensus algorithm for second-order systems with a time-varying reference state

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Journal of Beijing Institute of Technology 2013年第3期22卷 387-393页

作者：宋莉伍清河 School of Automation Beijing Institute of Technology

Two second-order consensus algorithms with a time-vary reference state without relative velocity measurements are proposed in a directed topology. Necessary and sufficient conditions are presented to ensure second-order consensus. It is shown that all the coupling strengths and the ei- genvalues of the Laplacian matrix play important roles in reaching consensus. Specially when all non- zero eigenvalues of the Laplacian matrix are real, consensus can be achieved if and only if the cou- pling strengths are positive and the directed topology has a spanning tree for the first algorithm, and for the second one, consensus can be achieved if and only if the coupling strengths are positive. Fi- nally, simulation examples are presented to verify the theoretical analysis.

关键词： multi-agent system second-order consensus necessary and sufficient condition

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consensus for Heterogenous Multi-agent Systems with second-order Linear and Nonlinear Dynamics

Consensus for Heterogenous Multi-agent Systems with Second-o...

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第30届中国控制与决策会议

作者： Yi Shi Yanyan Yin Chenchen Liu Chenglin Liu Fei Liu Key Laboratory of Advanced Process Control for Light Industry (Ministry of Education) Institute of Automation Jiangnan University Department of Mathematics and Statistics Curtin University

In this paper, we investigate the consensus for heterogeneous multi-agent systems. The systems are composed of second-order linear and nonlinear agents with different nonlinear terms, which makes systems more general. A valid control law for each agent is given based on the communication with their neighbors. By employing La Salle’s invariance principle and Lyapunov stability theory, sufficient condition is established to achieve the consensus under the undirected connected topologies. Finally, we give a simulation example to illustrate the validity of the theoretical method.

关键词： Multi-agent systems second-order consensus Heterogeneous systems

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Distributed UAV Formation Control with Two-Hop Relay Protocol

Distributed UAV Formation Control with Two-Hop Relay Protoco...

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第36届中国控制会议

作者： Yun Chai Ke-cai Cao Nanjing University of Posts and Telecommunications Nanjing University of Aeronautics and Astronautics

ISBN: (纸本)9781538629185

Distributed formation control of Unmanned Aerial Vehicle（UAV） in three-dimensional space is discussed in this *** order to achieve a faster consensus seeking,a consensus-based cooperative formation control strategy with the tow-hop relay protocol is ***’s nonlinear kinetic model is transformed into linear model by feedback linearization and the original control inputs are also transformed into the accelerations in inertial coordinate system ’s three *** consensus protocol in this paper can increase the algebraic connectivity without physically adding or changing any edges in the *** consensus based UAV formation control strategy makes UAVs can build up stable and desired formation and move at expected *** conditions under which second-order consensus can be reached are proposed.A multi-vehicle formation control example is shown in simulation as an illustrative example.

关键词： UAV second-order consensus Convergence speed Two-hop relay protocol Formation control

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second-order Leader-following Tracking of Multi-agent Systems with Nonlinear Dynamics

Second-order Leader-following Tracking of Multi-agent System...

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第九届全国动力学与控制学术会议

作者： YAN Mengfei YU Wenwu CAO Jinde Department of Mathematics Southeast University School of Electrical and Computer Engineering RMIT University

This paper studies second-order tracking problem with an active leader and general dyanmics in multi-agent dynamical systems where the network of the multi-agent systems may not be connected and the message of the velocity in real time cannot be *** active leader is introduced and some controllers and observers are designed for the multi-agent systems,where the velocity message of the leader is *** the proposed control schemes,we show that each agent can follow the leader *** this paper,a new Lyapunov function is

关键词： Multi-agent system Distributed control Distributed observer second-order consensus Active leader Switching topology

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