Maximizing Convergence Speed for Second Order Consensus in Leaderless Multi-Agent Systems

doi:10.1109/JAS.2021.1004320

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	Maximizing Convergence Speed for Second Order Consensus in Leaderless Multi-Agent Systems
	Gianvito Difilippo; Maria Pia Fanti; Agostino Marcello Mangini
发表期刊	IEEE/CAA Journal of Automatica Sinica
ISSN	2329-9266
	2022
卷号	9 期号:2 页码:259-269
摘要	The paper deals with the consensus problem in a leaderless network of agents that have to reach a common velocity while forming a uniformly spaced string. Moreover, the final common velocity (reference velocity) is determined by the agents in a distributed and leaderless way. Then, the consensus protocol parameters are optimized for networks characterized by a communication topology described by a class of directed graphs having a directed spanning tree, in order to maximize the convergence rate and avoid oscillations. The advantages of the optimized consensus protocol are enlightened by some simulation results and comparison with a protocol proposed in the related literature. The presented protocol can be applied to coordinate agents such as mobile robots, automated guided vehicles (AGVs) and autonomous vehicles that have to move with the same velocity and a common inter-space gap.
关键词	Consensus protocols directed spanning tree multi-agent systems networked systems second-order consensus
DOI	10.1109/JAS.2021.1004320
引用统计	被引频次：12[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/45988
专题	学术期刊_IEEE/CAA Journal of Automatica Sinica
推荐引用方式 GB/T 7714	Gianvito Difilippo,Maria Pia Fanti,Agostino Marcello Mangini. Maximizing Convergence Speed for Second Order Consensus in Leaderless Multi-Agent Systems[J]. IEEE/CAA Journal of Automatica Sinica,2022,9(2):259-269.
APA	Gianvito Difilippo,Maria Pia Fanti,&Agostino Marcello Mangini.(2022).Maximizing Convergence Speed for Second Order Consensus in Leaderless Multi-Agent Systems.IEEE/CAA Journal of Automatica Sinica,9(2),259-269.
MLA	Gianvito Difilippo,et al."Maximizing Convergence Speed for Second Order Consensus in Leaderless Multi-Agent Systems".IEEE/CAA Journal of Automatica Sinica 9.2(2022):259-269.

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