Consensus tracking of second order multi-agent systems with disturbances under heterogenous topologies

2017 ◽  
Author(s):  
Xuxi Zhang ◽  
Xianping Liu
Keyword(s):  
Second Order ◽  
Multi Agent Systems ◽  
Agent Systems ◽  
Consensus Tracking ◽  
Multi Agent

Rotating consensus tracking for second-order multi-agent systems with external disturbances

2018 ◽  
Vol 40 (13) ◽  
pp. 3604-3616 ◽  
Author(s):  
Dandan Zhang ◽  
Guangren Duan
Keyword(s):  
Relative Velocity ◽  
Second Order ◽  
Direct Access ◽  
Control Technique ◽  
Multi Agent Systems ◽  
Velocity Measurements ◽  
External Disturbances ◽  
Agent Systems ◽  
Consensus Tracking ◽  
Multi Agent

In this paper, the rotating consensus tracking problem for second-order multi-agent systems with external disturbances in three-dimensional space is considered. It is assumed that only a subset of the agents is given direct access to the desired trajectory information. Based on a backstepping control technique, a distributed adaptive rotating consensus protocol, driving all followers to track the leader, is developed for the case when both the relative position and relative velocity measurements are available for feedback. Moreover, the proposed control protocol design method is also extended to the case that the relative velocities are not measured. Through Lyapunov stability analysis, it is shown that, under the proposed control protocols, all followers can track the leader rotating around a common point with and without relative velocity measurements. Simulation results are included to demonstrate the effectiveness of our schemes.

scholarly journals Impulsive Consensus Tracking of Multiagent Systems with Quantization and Input Delays Using Position-Only Information

2014 ◽  
Vol 2014 ◽  
pp. 1-10 ◽  
Author(s):  
Hong Zhou ◽  
Yu-Zhen Qin ◽  
Kuo Feng ◽  
Wen-Shan Hu ◽  
Zhi-Wei Liu
Keyword(s):  
Sampling Period ◽  
Second Order ◽  
Quantization Scheme ◽  
Multi Agent Systems ◽  
Agent Systems ◽  
Consensus Tracking ◽  
Sufficient And Necessary Conditions ◽  
Multi Agent ◽  
Input Delays ◽  
And Control

This paper investigates the consensus tracking problem for second-order multi-agent systems without/with input delays. Randomized quantization scheme is considered in the communication channels, and impulsive consensus tracking algorithms using position-only information are proposed for the consensus tracking of multi-agent systems. Based on the algebraic graph theory and stability theory of impulsive systems, sufficient and necessary conditions for consensus tracking are studied. It is found that consensus tracking for second-order multi-agent systems without/with input delays can be achieved by appropriately choosing the sampling period and control gains which are determined by second/third degree polynomials. Simulations are performed to validate the theoretical results.

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