Consensus of multi-agent systems without velocity input

被引：0
|
作者：
Dong H. [1 ]
Cheng S. [1 ]
Zhang D.-M. [1 ]
机构：
[1] College of Science, Zhejiang University of Technology, Hangzhou, 310023, Zhejiang
来源：
Kongzhi Lilun Yu Yingyong/Control Theory and Applications | 2019年 / 36卷 / 10期
关键词：
Communication network; Consensus; Distributed protocol; Multi-agent systems; Non-linear;
D O I：
10.7641/CTA.2019.80370
中图分类号：
学科分类号：
摘要：
This paper investigates the consensus problem for multi-agent systems with and without a leader under the non-linear protocols. When the velocity information of agents are unavailable, the non-linear distributed protocols including auxiliary systems and relative position information of agents are designed for multi-agent systems with and without a leader respectively. By employing the methods of graph theory, Lyapunov stability theory, Barbalat lemma, the sufficient conditions for multi-agent systems with and without a leader to achieve consensus in undirected networks are developed. Secondly, a new protocol is derived to achieve the expected consensus with leader-following multi-agent systems in the directed communication network. Finally, the numerical simulation demonstrates the effectiveness of the theoretical results. © 2019, Editorial Department of Control Theory & Applications South China University of Technology. All right reserved.
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页码：1599 / 1605
页数：6
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