A Consensus Protocol for Multi-agent Systems with Double Integrator Model

2010 ◽  
pp. 157-165
Author(s):  
Fang Wang ◽  
Lixin Gao ◽  
Yanping Luo
Keyword(s):  
Multi Agent Systems ◽  
Consensus Protocol ◽  
Agent Systems ◽  
Multi Agent ◽  
Integrator Model ◽  
Double Integrator

Finite-Time Consensus of Double-Integrator Multi-Agent Systems with Time-Varying Directed Topologies

2016 ◽  
Vol 20 (2) ◽  
pp. 254-261 ◽  
Author(s):  
Fang Wang ◽  
◽  
Xin Chen ◽  
Yong He ◽  
Keyword(s):  
Finite Time ◽  
Weighted Average ◽  
Control Technique ◽  
Time Varying ◽  
Multi Agent Systems ◽  
Consensus Protocol ◽  
Agent Systems ◽  
Multi Agent ◽  
Directed Topologies ◽  
Double Integrator

The finite-time consensus problem for double-integrator multi-agent systems (MASs) is studied using time-varying directed topologies. In detail, a distributed finite-time control protocol is designed to achieve the weighted average consensus on the basis of both relative position and relative velocity measurements by utilizing a homogeneous control technique. Then, on the basis of graph theory, homogeneity with dilation and LaSalle’s invariance principle, the designed finite-time consensus protocol ensures finite-time convergence to a consensus in the time-varying directed topologies without a global leader. Finally, some examples and simulation results are given to illustrate the effectiveness of the obtained theoretical results.

Consensus problems in multi-agent systems with double integrator model

2010 ◽  
Vol 19 (5) ◽  
pp. 050520 ◽  
Author(s):  
Gao Li-Xin ◽  
Yan Hui-Juan ◽  
Jin Dan
Keyword(s):  
Multi Agent Systems ◽  
Agent Systems ◽  
Multi Agent ◽  
Integrator Model ◽  
Double Integrator

Three-Dimensional Dynamic Formation Control of Multi-Agent Systems Using Rigid Graphs

2015 ◽  
Vol 137 (11) ◽  
Author(s):  
Pengpeng Zhang ◽  
Marcio de Queiroz ◽  
Xiaoyu Cai
Keyword(s):  
Formation Control ◽  
Three Dimensional ◽  
Multi Agent Systems ◽  
Agent Systems ◽  
3D Space ◽  
Multi Agent ◽  
Error Dynamics ◽  
Integrator Model ◽  
Double Integrator ◽  
Dynamic Formation

In this paper, we consider the problem of formation control of multi-agent systems in three-dimensional (3D) space, where the desired formation is dynamic. This is motivated by applications where the formation size and/or geometric shape needs to vary in time. Using a single-integrator model and rigid graph theory, we propose a new control law that exponentially stabilizes the origin of the nonlinear, interagent distance error dynamics and ensures tracking of the desired, 3D time-varying formation. Extensions to the formation maneuvering problem and double-integrator model are also discussed. The formation control is illustrated with a simulation of eight agents forming a dynamic cube.

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