中国物理B ›› 2014, Vol. 23 ›› Issue (4): 40503-040503.doi: 10.1088/1674-1056/23/4/040503

• GENERAL • 上一篇    下一篇

Collective composite-rotating consensus of multi-agent systems

林鹏a b, 卢婉婷a, 宋永端a   

  1. a School of Automation, Chongqing University, Chongqing 400030, China;
    b State Key Laboratory of Networking and Switching Technology, Beijing University of Posts and Telecommunications, Beijing 100876, China
  • 收稿日期:2012-12-31 修回日期:2013-12-31 出版日期:2014-04-15 发布日期:2014-04-15
  • 基金资助:
    Project supported by the Major State Basic Research Development Program of China (Grant No. 2012CB215202), the National Natrual Science Fundation of China (Grant Nos. 61134001 and 61203080), and the Fundamental Research Funds for the Central Universities (Grant Nos. ZYGX2010J113 and ZYGX2010J114).

Collective composite-rotating consensus of multi-agent systems

Lin Peng (林鹏)a b, Lu Wan-Ting (卢婉婷)a, Song Yong-Duan (宋永端)a   

  1. a School of Automation, Chongqing University, Chongqing 400030, China;
    b State Key Laboratory of Networking and Switching Technology, Beijing University of Posts and Telecommunications, Beijing 100876, China
  • Received:2012-12-31 Revised:2013-12-31 Online:2014-04-15 Published:2014-04-15
  • Contact: Song Yong-Duan E-mail:ydsong@cqu.edu.cn
  • About author:05.65.+b; 02.10.Yn; 87.10.-e
  • Supported by:
    Project supported by the Major State Basic Research Development Program of China (Grant No. 2012CB215202), the National Natrual Science Fundation of China (Grant Nos. 61134001 and 61203080), and the Fundamental Research Funds for the Central Universities (Grant Nos. ZYGX2010J113 and ZYGX2010J114).

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摘要： This paper investigates a distributed composite-rotating consensus problem of second-order multi-agent systems, where all agents move in a nested circular orbit. A distributed control law is proposed which contains two parts: the local state feedback that guarantees the circular motion and the distributed relative state feedback that guarantees the consensus of all agents. A sufficient condition is derived to drive all agents as well as ensure their circle centers make circular motion in a distributed manner. Finally, a numerical simulation is included to demonstrate our theoretical results.

关键词: composite-rotating consensus, second-order dynamics, complex systems

Abstract: This paper investigates a distributed composite-rotating consensus problem of second-order multi-agent systems, where all agents move in a nested circular orbit. A distributed control law is proposed which contains two parts: the local state feedback that guarantees the circular motion and the distributed relative state feedback that guarantees the consensus of all agents. A sufficient condition is derived to drive all agents as well as ensure their circle centers make circular motion in a distributed manner. Finally, a numerical simulation is included to demonstrate our theoretical results.

Key words: composite-rotating consensus, second-order dynamics, complex systems

中图分类号:  (Self-organized systems)

  • 05.65.+b
02.10.Yn (Matrix theory) 87.10.-e (General theory and mathematical aspects)