Agreement coordination for second-order multi-agent systems with disturbances
Zhang Chun-Xi (张春熹)a, Li Hui (李慧)a, Lin Peng (林鹏)b
a School of Instrument Science and Opto--electronics Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100083, China; b The Seventh Research Division, Beijing University of Aeronautics and Astronautics, Beijing 100083, China
Abstract This paper is devoted to the study of consensus problems for the second-order multi-agent systems with external disturbances, switching topology and communication time-delay. Firstly, we perform a model transformation and separate the agreement states from the disagreement states. Secondly, according to this system, we derive a sufficient condition for consensus problem without disturbances by using the Lyapunov-based approach. Furthermore, we give a design criterion in terms of bilinear matrix inequality for the control protocol in the presence of disturbances. Finally, numerical simulations are provided to show the effectiveness of our strategies.
Received: 19 May 2008
Revised: 20 June 2008
Accepted manuscript online:
Zhang Chun-Xi (张春熹), Li Hui (李慧), Lin Peng (林鹏) Agreement coordination for second-order multi-agent systems with disturbances 2008 Chin. Phys. B 17 4458
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