Consensus problems in multi-agent systems with double integrator model

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

中国物理B ›› 2010, Vol. 19 ›› Issue (5): 50520-050520.doi: 10.1088/1674-1056/19/5/050520

Consensus problems in multi-agent systems with double integrator model

高利新, 闫慧娟, 金丹

College of Mathematics & Information Science, Wenzhou University, Zhejiang 325027, China

收稿日期:2009-08-29 修回日期:2009-10-22 出版日期:2010-05-15 发布日期:2010-05-15
基金资助:
Project supported by the National Natural Science Foundation of China (Grant No.~60674071).

Consensus problems in multi-agent systems with double integrator model

Gao Li-Xin(高利新)^†, Yan Hui-Juan(闫慧娟), and Jin Dan(金丹)

College of Mathematics & Information Science, Wenzhou University, Zhejiang 325027, China

Received:2009-08-29 Revised:2009-10-22 Online:2010-05-15 Published:2010-05-15
Supported by:
Project supported by the National Natural Science Foundation of China (Grant No.~60674071).

摘要/Abstract

摘要： 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.

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.

Key words: multi-gent systems, stability analysis, consensus, double-integrator model

中图分类号: (Control systems)

07.05.Dz

02.10.Ox (Combinatorics; graph theory) 02.10.Yn (Matrix theory)

高利新, 闫慧娟, 金丹. Consensus problems in multi-agent systems with double integrator model[J]. 中国物理B, 2010, 19(5): 50520-050520.

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[J]. Chin. Phys. B, 2010, 19(5): 50520-050520.

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Consensus problems in multi-agent systems with double integrator model

Consensus problems in multi-agent systems with double integrator model

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