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A novel consensus algorithm for second‐order multi‐agent systems without velocity measurements
Author(s) -
Zhang Wentao,
Liu Yang,
Lu Jianquan,
Cao Jinde
Publication year - 2016
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.3694
Subject(s) - node (physics) , inverted pendulum , multi agent system , computer science , extension (predicate logic) , scheme (mathematics) , enhanced data rates for gsm evolution , topology (electrical circuits) , order (exchange) , protocol (science) , consensus , tracking (education) , network topology , pendulum , mathematical optimization , control theory (sociology) , algorithm , mathematics , nonlinear system , artificial intelligence , control (management) , engineering , computer network , pedagogy , alternative medicine , mathematical analysis , structural engineering , pathology , psychology , quantum mechanics , programming language , medicine , physics , finance , combinatorics , economics , mechanical engineering
Summary In this paper, a novel consensus protocol for second‐order multi‐agent systems is elegantly designed, and it relaxes the common requirement of the velocity information of the agents. An interesting consensus criterion is explicitly derived in terms of the proposed cooperation law provided that the dynamical equation for each agent is linear. As an extension, the proposed cooperation rule is further extended to a general scenario, where the coupling weights characterizing the relationships among the neighboring agents are time‐varying. Accordingly, two distributed cooperative algorithms (node/edge‐based scheme) are explicitly designed. Moreover, we study the case of network with switching communication setting. It shows that edge‐based law is capable with the time‐varying topology, while the node‐based scheme is not. In addition, the proposed coordination strategies are applied to the tracking problem as well. Finally, these obtained consensus results are well supported in the light of the pendulum models. Copyright © 2016 John Wiley & Sons, Ltd.