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Reaching a consensus in networks of high-order integral agents under switching directed topologies
Cheng, Long1,2; Wang, Hanlei3; Hou, Zeng-Guang1; Tan, Min1
Source PublicationINTERNATIONAL JOURNAL OF SYSTEMS SCIENCE
2016-06-10
Volume47Issue:8Pages:1966-1981
SubtypeArticle
AbstractConsensus problem of high-order integral multi-agent systems under switching directed topology is considered in this study. Depending on whether the agent's full state is available or not, two distributed protocols are proposed to ensure that states of all agents can be convergent to a same stationary value. In the proposed protocols, the gain vector associated with the agent's (estimated) state and the gain vector associated with the relative (estimated) states between agents are designed in a sophisticated way. By this particular design, the high-order integral multi-agent system can be transformed into a first-order integral multi-agent system. Also, the convergence of the transformed first-order integral agent's state indicates the convergence of the original high-order integral agent's state, if and only if all roots of the polynomial, whose coefficients are the entries of the gain vector associated with the relative (estimated) states between agents, are in the open left-half complex plane. Therefore, many analysis techniques in the first-order integral multi-agent system can be directly borrowed to solve the problems in the high-order integral multi-agent system. Due to this property, it is proved that to reach a consensus, the switching directed topology of multi-agent system is only required to be uniformly jointly quasi-strongly connected', which seems the mildest connectivity condition in the literature. In addition, the consensus problem of discrete-time high-order integral multi-agent systems is studied. The corresponding consensus protocol and performance analysis are presented. Finally, three simulation examples are provided to show the effectiveness of the proposed approach.
KeywordMulti-agent Systems High-order Integral Agent Linear Dynamics Switching Directed Topology Consensus
WOS HeadingsScience & Technology ; Technology
DOI10.1080/00207721.2014.966281
WOS KeywordLINEAR MULTIAGENT SYSTEMS ; SUFFICIENT CONDITIONS ; OUTPUT-FEEDBACK ; COMMUNICATION NOISES ; SLIDING MODE ; SYNCHRONIZATION ; DYNAMICS ; SEEKING
Indexed BySCI
Language英语
Funding OrganizationNational Natural Science Foundation of China(61370032 ; Beijing Nova Program(Z121101002512066) ; State Key Laboratory of Intelligent Control and Decision of Complex Systems, Beijing Institute of Technology ; 61374060 ; 61225017 ; 61333016 ; 61422310)
WOS Research AreaAutomation & Control Systems ; Computer Science ; Operations Research & Management Science
WOS SubjectAutomation & Control Systems ; Computer Science, Theory & Methods ; Operations Research & Management Science
WOS IDWOS:000368197200019
Citation statistics
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/10663
Collection复杂系统管理与控制国家重点实验室_先进机器人
Affiliation1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing, Peoples R China
2.Beijing Inst Technol, State Key Lab Intelligent Control & Decis Complex, Beijing 100081, Peoples R China
3.Chinese Acad Space Technol, Beijing Inst Control Engn, Sci & Technol Space Intelligent Control Lab, Beijing, Peoples R China
Recommended Citation
GB/T 7714
Cheng, Long,Wang, Hanlei,Hou, Zeng-Guang,et al. Reaching a consensus in networks of high-order integral agents under switching directed topologies[J]. INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE,2016,47(8):1966-1981.
APA Cheng, Long,Wang, Hanlei,Hou, Zeng-Guang,&Tan, Min.(2016).Reaching a consensus in networks of high-order integral agents under switching directed topologies.INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE,47(8),1966-1981.
MLA Cheng, Long,et al."Reaching a consensus in networks of high-order integral agents under switching directed topologies".INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE 47.8(2016):1966-1981.
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