Aggregation of dynamical agents in network

Author

Yang, Liyan ; Yu, Hongwang ; Pan, Weiyun ; Zheng, Yufan

Author_Institution

Dept. of Math., Univ. of Shanghai, Shanghai

fYear

2008

fDate

25-27 June 2008

Firstpage

6348

Lastpage

6352

Abstract

This paper investigates the aggregation of dynamical agents in network. The communication topology of network is characterized by a undirect graph and the agents are Lyapunov stable distributed in a plane. We provide with the conditions under which the group of agents will achieves gradually aggregation. Numerical simulations show that our theoretical results are effective. By comparison with the former works on this topic, e.g., our study shows that when the dynamic agents is moving in a plane the aggregation condition is very different from that in a line. The stability conditions depend not only on the control protocol, but also on the eigenvalues of graph Laplacian associated with the network, as well as the dynamical behaviors of agents. Whereas for the agents moving in a line the aggregation stability condition depends on the control protocol only.

Keywords

Laplace equations; Lyapunov methods; eigenvalues and eigenfunctions; graph theory; multi-robot systems; stability; Lyapunov stability; communication topology; control protocol; dynamical agent aggregation; eigenvalues; graph Laplacian; numerical simulations; undirect graph; Automation; Eigenvalues and eigenfunctions; Intelligent control; Laplace equations; Mathematical model; Mathematics; Network topology; Protocols; Stability; Vehicle dynamics; Aggregation; Consensus control; Graph Laplacian; Network of dynamical agents;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Control and Automation, 2008. WCICA 2008. 7th World Congress on

Conference_Location

Chongqing

Print_ISBN

978-1-4244-2113-8

Electronic_ISBN

978-1-4244-2114-5

Type

conf

DOI

10.1109/WCICA.2008.4593886

Filename

4593886