Title :
A new consensus protocol for high order multi-agent systems
Author :
Li Changbin ; Du Chunyan ; He Yi
Author_Institution :
Tianjin Univ., Tianjin, China
fDate :
May 31 2014-June 2 2014
Abstract :
In this paper, the consensus problem of a class of high order multi-agent systems is studied. We supposed the multi-agent can only exchange information only accord to a directed communication graph. By using the relative state consensus algorithm, a sufficient condition is provided for consensus achievement. Then, a new consensus protocol which using a state observer is provided. The N observer and the N multi-agents can be viewed as 2N multi-agent components which will reach consensus asymptotically. This technique simplified consensus protocol design to some extent. We believe this technique can be extended to solve consensus problem exists in multi-agent systems with nonlinear dynamics over directed communication graph or even switching graph.
Keywords :
directed graphs; higher order statistics; multi-robot systems; nonlinear dynamical systems; observers; protocols; consensus achievement; consensus protocol design; directed communication graph; exchange information; high order multiagent systems; multiagent component; nonlinear dynamics; relative state consensus algorithm; state observer; sufficient condition; switching graph; Eigenvalues and eigenfunctions; Laplace equations; Multi-agent systems; Network topology; Observers; Protocols; Topology; consensus control; high order; multi-agent systems;
Conference_Titel :
Control and Decision Conference (2014 CCDC), The 26th Chinese
Conference_Location :
Changsha
Print_ISBN :
978-1-4799-3707-3
DOI :
10.1109/CCDC.2014.6852340
