Reference model based consensus control of second-order multi-agent systems ⁄

This paper deals with the consensus problem of multi-agent systems with second-order dynamics. The objective is to design algorithms such that all agents will have same positions and velocities. First, a reference model based consensus algorithm is proposed. It is proved that the consensus can be achieved if the communication graph has a spanning tree. Different from most of the consensus algorithms proposed in the literature, the parameters of the control laws are different among agents. Therefore, each agent can design its control law independently. Secondly, it gives a consensus algorithm for the case that the velocities of the agents are not available. Thirdly, the effectiveness of the input delay and the communication delay is considered. It shows that consensus can be achieved if the input delay of every agent is smaller than a bound related to parameters in its control law. Finally, some numerical examples are given to illustrate the proposed results.

[1]  Yingmin Jia,et al.  Consensus of second-order discrete-time multi-agent systems with nonuniform time-delays and dynamically changing topologies , 2009, Autom..

[2]  Xiao Fan Wang,et al.  Synchronization of coupled harmonic oscillators in a dynamic proximity network , 2009, Proceedings of the 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference.

[3]  Long Wang,et al.  Asynchronous Consensus in Continuous-Time Multi-Agent Systems With Switching Topology and Time-Varying Delays , 2006, IEEE Transactions on Automatic Control.

[4]  Xiao Fan Wang,et al.  Rendezvous of multiple mobile agents with preserved network connectivity , 2010, Syst. Control. Lett..

[5]  Zhang Wenguang,et al.  H? consensus control of a class of second-order multi-agent systems without relative velocity measurement , 2010 .

[6]  Luc Moreau,et al.  Stability of multiagent systems with time-dependent communication links , 2005, IEEE Transactions on Automatic Control.

[7]  Yingmin Jia,et al.  Further results on decentralised coordination in networks of agents with second-order dynamics , 2009 .

[8]  Richard M. Murray,et al.  Consensus problems in networks of agents with switching topology and time-delays , 2004, IEEE Transactions on Automatic Control.

[9]  Zengqiang Chen,et al.  Reaching a consensus via pinning control , 2009, Autom..

[10]  Randal W. Beard,et al.  Consensus seeking in multiagent systems under dynamically changing interaction topologies , 2005, IEEE Transactions on Automatic Control.

[11]  Ruggero Carli,et al.  Quantized average consensus via dynamic coding/decoding schemes , 2010 .

[12]  Ella M. Atkins,et al.  Distributed multi‐vehicle coordinated control via local information exchange , 2007 .

[13]  Jie Zhu,et al.  Synchronization research of a modified time-delayed multi-agent network model , 2009 .

[14]  Reza Olfati-Saber,et al.  Consensus and Cooperation in Networked Multi-Agent Systems , 2007, Proceedings of the IEEE.

[15]  Vicsek,et al.  Novel type of phase transition in a system of self-driven particles. , 1995, Physical review letters.

[16]  Richard M. Murray,et al.  Information flow and cooperative control of vehicle formations , 2004, IEEE Transactions on Automatic Control.

[17]  Reza Olfati-Saber,et al.  Flocking for multi-agent dynamic systems: algorithms and theory , 2006, IEEE Transactions on Automatic Control.

[18]  Hu Jiangping,et al.  Collective coordination of multi-agent systems guided by multiple leaders , 2009 .

[19]  Wenwu Yu,et al.  Some necessary and sufficient conditions for second-order consensus in multi-agent dynamical systems , 2010, Autom..

[20]  Li Hui,et al.  Agreement coordination for second-order multi-agent systems with disturbances , 2008 .

[21]  Wei Ren,et al.  Information consensus in multivehicle cooperative control , 2007, IEEE Control Systems.