Consensus in multi-agent systems with second-order dynamics and non-periodic sampled-data exchange

Author

Zareh, Mehran ; Dimarogonas, Dimos V. ; Franceschelli, Mauro ; Johansson, Karl H. ; Seatzu, C.

Author_Institution

Dept. of Electr. & Electron. Eng., Univ. of Cagliari, Cagliari, Italy

fYear

2014

fDate

16-19 Sept. 2014

Firstpage

1

Lastpage

8

Abstract

In this paper consensus in second-order multi-agent systems with a non-periodic sampled-data exchange among agents is investigated. The sampling is random with bounded inter-sampling intervals. It is assumed that each agent has exact knowledge of its own state at all times. The considered local interaction rule is PD-type. The characterization of the convergence properties exploits a Lyapunov-Krasovskii functional method, sufficient conditions for stability of the consensus protocol to a time-invariant value are derived. Numerical simulations are presented to corroborate the theoretical results.

Keywords

Lyapunov methods; PD control; convergence of numerical methods; multi-robot systems; random processes; sampled data systems; sampling methods; stability criteria; Lyapunov-Krasovskii functional method; PD-type local interaction rule; consensus protocol; convergence properties; intersampling intervals; multiagent systems; nonperiodic sampled-data exchange; numerical simulation; random sampling; second-order dynamics; sufficient stability condition; time-invariant value; Convergence; Eigenvalues and eigenfunctions; Equations; Robots; Silicon; Symmetric matrices; Topology;

fLanguage

English

Publisher

ieee

Conference_Titel

Emerging Technology and Factory Automation (ETFA), 2014 IEEE

Conference_Location

Barcelona

Type

conf

DOI

10.1109/ETFA.2014.7005127

Filename

7005127