69,360 research outputs found
Consensus in multi-agent systems with non-periodic sampled-data exchange and uncertain network topology
In this paper consensus in second-order multi-agent systems with a
non-periodic sampled-data exchange among agents is investigated. The sampling
is random with bounded inter-sampling intervals. It is assumed that each agent
has exact knowledge of its own state at any time instant. The considered local
interaction rule is PD-type. Sufficient conditions for stability of the
consensus protocol to a time-invariant value are derived based on LMIs. Such
conditions only require the knowledge of the connectivity of the graph modeling
the network topology. Numerical simulations are presented to corroborate the
theoretical results.Comment: arXiv admin note: substantial text overlap with arXiv:1407.300
Second-Order Consensus of Networked Mechanical Systems With Communication Delays
In this paper, we consider the second-order consensus problem for networked
mechanical systems subjected to nonuniform communication delays, and the
mechanical systems are assumed to interact on a general directed topology. We
propose an adaptive controller plus a distributed velocity observer to realize
the objective of second-order consensus. It is shown that both the positions
and velocities of the mechanical agents synchronize, and furthermore, the
velocities of the mechanical agents converge to the scaled weighted average
value of their initial ones. We further demonstrate that the proposed
second-order consensus scheme can be used to solve the leader-follower
synchronization problem with a constant-velocity leader and under constant
communication delays. Simulation results are provided to illustrate the
performance of the proposed adaptive controllers.Comment: 16 pages, 5 figures, submitted to IEEE Transactions on Automatic
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