scholarly journals Distributed Attitude Consensus for Multiple Rigid Spacecraft under Jointly Connected Switching Topologies

2016 ◽  
Vol 2016 ◽  
pp. 1-9 ◽  
Author(s):  
Long Ma ◽  
Shicheng Wang ◽  
Haibo Min ◽  
Shouyi Liao ◽  
Zhiguo Liu
Keyword(s):  
Function Method ◽  
Consensus Problem ◽  
Time Intervals ◽  
Common Lyapunov Function ◽  
Switching Topologies ◽  
First Case ◽  
Lyapunov Function Method ◽  
Communication Topology ◽  
Leader Following ◽  
Rigid Spacecraft

We study the distributed leader-following attitude consensus problem for multiple rigid spacecraft with a single leader under jointly connected switching topologies. Two cases are considered, where the first case is with a static leader and the second case is with a dynamic leader. By constructing an auxiliary vector and a distributed observer for each follower spacecraft, the controllers are designed to drive all the attitudes of the follower spacecraft to the leader’s, respectively, for both of the two cases, though there are some time intervals in which the communication topology is not connected. The whole system is proved to be stable by using common Lyapunov function method. Finally, the theoretical result is illustrated by numerical simulations.

scholarly journals Second-Order Consensus for Multiagent Systems under Directed and Switching Topologies

2012 ◽  
Vol 2012 ◽  
pp. 1-21 ◽  
Author(s):  
Lixin Gao ◽  
Jingjing Zhang ◽  
Wenhai Chen
Keyword(s):  
Function Method ◽  
Sufficient Conditions ◽  
Common Lyapunov Function ◽  
Special Cases ◽  
Lyapunov Function Method ◽  
Leader Following ◽  
The Common ◽  
Feedback Laws ◽  
Integrator Model ◽  
Double Integrator

We consider multiagent consensus problems in a decentralized fashion. The interconnection topology among the agents is switching and directed. The agent dynamics is expressed in the form of a double-integrator model. Two different cases are considered: one is the leader-following case and the other is the leaderless case. Based on graph theory and the common Lyapunov function method, some sufficient conditions are established for the consensus stability of the considered systems with the neighbor-based feedback laws in both leader-following case and leaderless case, respectively. As special cases, the consensus conditions for balanced and undirected interconnection topology cases can be established directly. Finally, two numerical examples are given to illustrate the obtained results.

scholarly journals Leader-Following Consensus of Linear Multiagent Systems with State Observer under Switching Topologies

2013 ◽  
Vol 2013 ◽  
pp. 1-12 ◽  
Author(s):  
Lixin Gao ◽  
Xinjian Zhu ◽  
Wenhai Chen ◽  
Hui Zhang
Keyword(s):  
Multiagent Systems ◽  
Function Method ◽  
Tracking Error ◽  
Protocol Design ◽  
Design Technique ◽  
Special Cases ◽  
Lyapunov Function Method ◽  
Communication Topology ◽  
Leader Following ◽  
Parameter Dependent

The leader-following consensus problem of higher order multiagent systems is considered. The dynamics of each agent are given in general form of linear system, and the communication topology among the agents is assumed to be directed and switching. To track the leader, two kinds of distributed observer-based consensus protocols are proposed for each following agent, whose distributed observers are used to estimate the leader’s state and tracking error based on the relative outputs of the neighboring agents, respectively. Some sufficient consensus conditions are established by using parameter-dependent Lyapunov function method under a class of directed interaction topologies. As special cases, the consensus conditions for balanced and undirected interconnection topology cases can be obtained directly. The protocol design technique is based on algebraic graph theory, Riccati equation, and Sylvester equation. Finally, a simulation example is given to illustrate our obtained result.

scholarly journals Robust Leaderless Consensus of Uncertain Multiagent Systems with Fast Switching Topologies

2015 ◽  
Vol 2015 ◽  
pp. 1-6 ◽  
Author(s):  
Wei Liu ◽  
Shaolei Zhou ◽  
Shi Yan ◽  
Gaoyang Yin
Keyword(s):  
Multiagent Systems ◽  
Special Property ◽  
Laplacian Matrix ◽  
Graph Laplacian ◽  
Consensus Problem ◽  
Time Intervals ◽  
Fast Switching ◽  
Switching Topologies ◽  
Directed Spanning Tree ◽  
Theoretical Results

This paper investigates the robust leaderless consensus problem of uncertain multiagent systems with directed fast switching topologies. The topologies are assumed to jointly contain a directed spanning tree. Based on a special property of the graph Laplacian matrix, the consensus problem is converted into a stabilization problem by performing a proper variable transformation. Averaging method is employed for analysis. It is proved that if the topologies switch sufficiently fast and the controllers are properly designed, the robust leaderless consensus can still be achieved even when all the possible topologies are unconnected in the switching time intervals. Finally, a numerical simulation is provided to illustrate the effectiveness of the theoretical results.

Finite-time consensus for a stochastic multi-species system

2015 ◽  
Vol 08 (02) ◽  
pp. 1550025
Author(s):  
Li Wang ◽  
Qimin Zhang ◽  
Yu Zhao
Keyword(s):  
Probability Theory ◽  
Brownian Motion ◽  
Finite Time ◽  
Function Method ◽  
Consensus Problem ◽  
Consensus Protocol ◽  
Lyapunov Function Method ◽  
Definition Of ◽  
Theoretical Results ◽  
Stochastic Lyapunov Function

This paper considers the finite-time consensus problem for a stochastic multi-species system. First, we give out a nonlinear consensus protocol for the multi-species system with Brownian motion, and propose the definition of finite-time consensus in probability. Second, we prove that the multi-species system can achieve finite-time consensus in probability with different proper protocols by use of graph theory, stochastic Lyapunov function method and probability theory. Finally, some simulations are provided to illustrate the effectiveness of the theoretical results.

Observer-Based Synchronization of Switched Chaotic Systems

2014 ◽  
Vol 602-605 ◽  
pp. 993-996
Author(s):  
Li Ming Du ◽  
Feng Ying Wang ◽  
Zi Yang Han
Keyword(s):  
Function Method ◽  
Chaotic Systems ◽  
Adaptive Observer ◽  
Common Lyapunov Function ◽  
State Information ◽  
Control Scheme ◽  
Lyapunov Function Method ◽  
Error System ◽  
Effectiveness And Efficiency ◽  
Error State

This paper presents a control scheme for the synchronization of switched chaotic systems. The general case that the error state information between master and slave chaotic systems is not available for design the controller, an adaptive observer-based error system is constructed and the controller is designed. Utilizing common Lyapunov function method, a synchronization criterion is given. Simulation shows the effectiveness and efficiency of the proposed scheme.

scholarly journals On Distributed Reduced-Order Observer-Based Protocol for Linear Multiagent Consensus under Switching Topology

2013 ◽  
Vol 2013 ◽  
pp. 1-13 ◽  
Author(s):  
Yan Zhang ◽  
Lixin Gao ◽  
Changfei Tong
Keyword(s):  
Switching Topology ◽  
Consensus Problem ◽  
Common Lyapunov Function ◽  
Reduced Order ◽  
Reduced Order Observer ◽  
Leader Following ◽  
Multi Agent ◽  
Fixed Topology ◽  
Parameter Dependent ◽  
The Given

We discuss linear multiagent systems consensus problem with distributed reduced-order observer-based protocol under switching topology. We use Jordan decomposition method to prove that the proposed protocols can solve consensus problem under directed fixed topology. By constructing a parameter-dependent common Lyapunov function, we prove that the distributed reduced-order observer-based protocol can also solve the continuous-time multi-agent consensus problem under the undirected switching interconnection topology. Then, we investigate the leader-following consensus problem and propose a reduced-order observer-based protocol for each following agent. By using similar analysis method, we can prove that all following agents can track the leader under a class of directed interaction topologies. Finally, the given simulation example also shows the effectiveness of our obtained result.

Sign in / Sign up

Export Citation Format

Share Document