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Consensus strategy for a class of multi‐agents with discrete second‐order dynamics
Author(s) -
Qin Jiahu,
Gao Huijun,
Zheng Wei Xing
Publication year - 2011
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.1705
Subject(s) - network topology , topology (electrical circuits) , consensus , graph theory , computer science , class (philosophy) , order (exchange) , graph , uniform consensus , multi agent system , mathematics , mathematical optimization , theoretical computer science , artificial intelligence , computer network , combinatorics , finance , economics
SUMMARY This paper investigates consensus strategies for a group of agents with discrete second‐order dynamics under directed communication topology. Consensus analysis for both the fixed topology and time‐varying topology cases is systematically performed by employing a novel graph theoretic methodology as well as the classical nonnegative matrix theory. Furthermore, it is shown that the necessary and sufficient condition for the agents under fixed communication topology to reach consensus is that the communication topology has a spanning tree; and sufficient conditions for the agents to reach consensus when allowing for the dynamically changing communication topologies are also given. Finally, an illustrative example is provided to demonstrate the effectiveness of the proposed results. Copyright © 2011 John Wiley & Sons, Ltd.