Title :
Finite-time consensus of multi-agent systems with double integrator dynamics using only relative position measurements
Author :
Haochong Zhou ; Yingmin Jia
Author_Institution :
Dept. of Syst. & Control, Beihang Univ., Beijing, China
Abstract :
In this paper, we study the finite time consensus problem for multi-agent systems with double-integrator dynamics under an undirected graph. Both the leaderless consensus problem and the coordinated tracking problem with a dynamic leader are considered without velocity measurements. Based on an observer for each agent, we present two distributed control protocols for the two cases which can solve the consensus problem in finite time. Simulation examples for the two cases are provided to illustrate the effectiveness of the proposed algorithms.
Keywords :
control system analysis; distributed control; graph theory; multi-agent systems; position measurement; coordinated tracking problem; distributed control protocols; double integrator dynamics; dynamic leader; finite-time consensus; leaderless consensus problem; multiagent systems; relative position measurements; undirected graph; Lead; Nickel; Silicon; Tin; Vehicles; Multi-agent systems; finite-time consensus; output feedback;
Conference_Titel :
Cloud Computing and Intelligence Systems (CCIS), 2014 IEEE 3rd International Conference on
Print_ISBN :
978-1-4799-4720-1
DOI :
10.1109/CCIS.2014.7175741
