Second-order consensus in multi-agent dynamical systems with sampled position data

Wenwu Yu

doi:10.1016/j.automatica.2011.02.027

Return

Second-order consensus in multi-agent dynamical systems with sampled position data

2011-07-01

473

PRE

Wenwu Yu *

Wei Xing Zheng (Wei Xing Zheng)

DOI：10.1016/j.automatica.2011.02.027

Original

Original request for help

Save

Abstract

En 中文

This paper studies second-order consensus in multi-agent dynamical systems with sampled position data. A distributed linear consensus protocol with second-order dynamics is designed, where both the current and some sampled past position data are utilized. It is found that second-order consensus in such a multi-agent system cannot be reached without any sampled position data under the given protocol while it can be achieved by appropriately choosing the sampling period. A necessary and sufficient condition for reaching consensus of the system in this setting is established, based on which consensus regions are then characterized. It is shown that if all the eigenvalues of the Laplacian matrix are real, then second-order consensus in the multi-agent system can be reached for any sampling period except at some critical points depending on the spectrum of the Laplacian matrix. However, if there exists at least one eigenvalue of the Laplacian matrix with a nonzero imaginary part, second-order consensus cannot be reached for sufficiently small or sufficiently large sampling periods. In such cases, one nevertheless may be able to find some disconnected stable consensus regions determined by choosing appropriate sampling periods. Finally, simulation examples are given to verify and illustrate the theoretical analysis. (C) 2011 Elsevier Ltd. All rights reserved.

Keywords:

Multi-agent system

Second-order consensus

Algebraic graph theory

Sampling period

AI Summary

Key information extracted from the uploaded paper, including a brief overview, abstract, background, key highlights, visual analysis, and future outlook.