›› 2014, Vol. 23 ›› Issue (11): 110205-110205.doi: 10.1088/1674-1056/23/11/110205

• GENERAL • 上一篇    下一篇

Leaderless and leader-following consensus of linear multi-agent systems

张晓娇a, 崔宝同b, 娄柯c   

  1. a School of Computer Science and Control Engineering, North University of China, Taiyuan 030051, China;
    b Key Laboratory of Advanced Process Control for Light Industry of Ministry of Education, Jiangnan University, Wuxi 214122, China;
    c College of Electrical Engineering, Anhui Polytechnic University, Wuhu 241000, China
  • 收稿日期:2013-11-24 修回日期:2014-05-28 出版日期:2014-11-15 发布日期:2014-11-15
  • 基金资助:
    Project supported by the National Natural Science Foundation of China (Grant Nos. 61473136 and 61174021), the Fundamental Research Funds for the Central Universities of China (Grant No. JUSRP51322B), and the 111 Project (Grant No. B12018).

Leaderless and leader-following consensus of linear multi-agent systems

Zhang Xiao-Jiao (张晓娇)a, Cui Bao-Tong (崔宝同)b, Lou Ke (娄柯)c   

  1. a School of Computer Science and Control Engineering, North University of China, Taiyuan 030051, China;
    b Key Laboratory of Advanced Process Control for Light Industry of Ministry of Education, Jiangnan University, Wuxi 214122, China;
    c College of Electrical Engineering, Anhui Polytechnic University, Wuhu 241000, China
  • Received:2013-11-24 Revised:2014-05-28 Online:2014-11-15 Published:2014-11-15
  • Contact: Zhang Xiao-Jiao E-mail:xiaojiao-abc@hotmail.com
  • Supported by:
    Project supported by the National Natural Science Foundation of China (Grant Nos. 61473136 and 61174021), the Fundamental Research Funds for the Central Universities of China (Grant No. JUSRP51322B), and the 111 Project (Grant No. B12018).

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摘要： This paper studies the consensus problems for multi-agent systems with general linear and nonlinear dynamics. The leaderless and leader-following consensus problems are investigated respectively. Contraction theory is employed to generate some sufficient conditions for testing the agents reaching consensus. Under these conditions and certain assumptions, the trajectories of multi-agent systems in directed topology will converge to each other. Finally, two numerical examples are given to illustrate the effectiveness of the proposed results.

关键词: linear multi-agent systems, contraction theory, virtual system, partial contraction

Abstract: This paper studies the consensus problems for multi-agent systems with general linear and nonlinear dynamics. The leaderless and leader-following consensus problems are investigated respectively. Contraction theory is employed to generate some sufficient conditions for testing the agents reaching consensus. Under these conditions and certain assumptions, the trajectories of multi-agent systems in directed topology will converge to each other. Finally, two numerical examples are given to illustrate the effectiveness of the proposed results.

Key words: linear multi-agent systems, contraction theory, virtual system, partial contraction

中图分类号:  (Control theory)

  • 02.30.Yy
05.45.Xt (Synchronization; coupled oscillators) 89.75.Fb (Structures and organization in complex systems)