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Consensus of heterogeneous first‐ and second‐order multi‐agent systems with directed communication topologies
Author(s) -
Feng Yuanzhen,
Xu Shengyuan,
Lewis Frank L.,
Zhang Baoyong
Publication year - 2015
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.3090
Subject(s) - network topology , consensus , multi agent system , computer science , order (exchange) , uniform consensus , consensus algorithm , mathematical optimization , distributed computing , topology (electrical circuits) , mathematics , computer network , artificial intelligence , algorithm , economics , finance , combinatorics
Summary In this paper, we consider the consensus problem for heterogeneous multi‐agent systems composed of some first‐order and some second‐order dynamic agents in directed communication graphs. Consensus protocols are proposed for the second‐ and first‐order dynamic agents, respectively. Under certain assumptions on the control parameters, for fixed communication topologies, necessary and sufficient conditions for consensus are given, and the consensus values of all agents are established. For switching topologies, sufficient conditions are given for all agents to reach consensus. Finally, simulation examples are presented to demonstrate the effectiveness of the proposed methods. Copyright © 2013 John Wiley & Sons, Ltd.