Consensus problems in multi-agent systems with double integrator model

doi:10.1088/1674-1056/19/5/050520

Abstract In this paper, we consider multi-agent consensus problems in a decentralised fashion. The interconnection topology graph among the agents is switching and undirected. The agent dynamics is expressed in the form of a double integrator model. Two different cases are considered in this study. One is the leader-following case and the other is leaderless case. Based on graph theory and common Lyapunov function method, some sufficient conditions are obtained for the consensus stability of the considered systems with the neighbour-based feedback laws in both leader-following case and leaderless case respectively. Finally, two numerical examples are given to illustrate the obtained results.

Keywords: multi-gent systems stability analysis consensus double-integrator model

Received: 29 August 2009
Revised: 22 October 2009
Accepted manuscript online:

PACS:	07.05.Dz	(Control systems)
	02.10.Ox	(Combinatorics; graph theory)
	02.10.Yn	(Matrix theory)

Fund: Project supported by the National Natural Science Foundation of China (Grant No.~60674071).

Cite this article:

Gao Li-Xin(高利新), Yan Hui-Juan(闫慧娟), and Jin Dan(金丹) Consensus problems in multi-agent systems with double integrator model 2010 Chin. Phys. B 19 050520

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