scholarly journals Observer-based output feedback consensus protocol for double-integrator multi-agent systems under intermittent sampled position measurements

2020 ◽  
Vol 53 (2) ◽  
pp. 3025-3030
Author(s):  
Dylan Poulsen ◽  
Michael Defoort ◽  
Mohamed Djemai
Keyword(s):  
Output Feedback ◽  
Multi Agent Systems ◽  
Consensus Protocol ◽  
Agent Systems ◽  
Multi Agent ◽  
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 seeking for multi-agent systems by hybrid output feedback protocol

2016 ◽  
Vol 39 (7) ◽  
pp. 1104-1113 ◽  
Author(s):  
Jianqiang Hu ◽  
Jinde Cao
Keyword(s):  
Output Feedback ◽  
Multi Agent Systems ◽  
Consensus Protocol ◽  
Agent Systems ◽  
Luenberger Observer ◽  
State Observers ◽  
Communication Topology ◽  
Necessary And Sufficient Criteria ◽  
Multi Agent ◽  
Necessary And Sufficient

Consensus seeking problems are investigated for linear multi-agent systems in this paper. Two kinds of state observers, the decentralized Luenberger observer and the distributed pinning networked observer, are proposed to estimate the group agents’ state. Then, based on the observed state information, a novel distributed hybrid output feedback protocol is proposed. Using an eigenvalue analysis method, necessary and sufficient criteria have been established such that asymptomatic consensus can be achieved for a linear multi-agent system under a fixed directed communication topology. Furthermore, two multi-step algorithms are provided to determine the observer gains and the feedback gains for the proposed observer and distributed hybrid protocol. Finally, a numerical example is given to demonstrate the applicability and efficiency of the proposed consensus protocol.

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