中国物理B ›› 2011, Vol. 20 ›› Issue (2): 20512-020512.doi: 10.1088/1674-1056/20/2/020512

• GENERAL • 上一篇    下一篇

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

李建祯   

  1. School of Automation, Nanjing University of Science and Technology, Nanjing 210094, China
  • 收稿日期:2010-07-14 修回日期:2010-08-31 出版日期:2011-02-15 发布日期:2011-02-15
  • 基金资助:
    Project supported by the National Natural Science Foundation of China (Grant No. 60904022).

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

Li Jian-Zhen(李建祯)†   

  1. School of Automation, Nanjing University of Science and Technology, Nanjing 210094, China
  • Received:2010-07-14 Revised:2010-08-31 Online:2011-02-15 Published:2011-02-15
  • Supported by:
    Project supported by the National Natural Science Foundation of China (Grant No. 60904022).

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摘要： 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.

Abstract: 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.

Key words: consensus problems, multi-agent systems, directed graphs, second-order dynamics

中图分类号:  (Self-organized systems)

  • 05.65.+b
87.10.Ed (Ordinary differential equations (ODE), partial differential equations (PDE), integrodifferential models)