Title :
Quasi-average-consensus of directed hybrid swarm agents
Author :
Mingqin, Gu ; Yunzhong, Song
Author_Institution :
Complex Networks Lab. Sch. of Electr., Henan Polytech. Univ., Jiaozuo
Abstract :
Consensus problem of directed multi-agents networks with heterogeneous nodes of mixed first and second order integrator is covered. Corresponding quasi-average-consensus protocol is proposed for both fixed and switching topology cases. Stability analysis based on Lyapunov function together with algebra graph theory shows that quasi-average-consensus can be realized. Numerical results are also given to verify the effectiveness of the suggested scheme.
Keywords :
Lyapunov methods; directed graphs; multi-agent systems; multi-robot systems; stability; time-varying systems; Lyapunov function; algebra graph theory; directed hybrid swarm agents; directed multiagents networks; quasiaverage-consensus protocol; stability analysis; switching topology; Algebra; Automation; Communication system control; Complex networks; Distributed control; Graph theory; Lyapunov method; Network topology; Protocols; Stability analysis; Consensus problem; Directed network; Heterogeneous multi-agents; Quasi-average consensus;
Conference_Titel :
Control Conference, 2008. CCC 2008. 27th Chinese
Conference_Location :
Kunming
Print_ISBN :
978-7-900719-70-6
Electronic_ISBN :
978-7-900719-70-6
DOI :
10.1109/CHICC.2008.4605434
