Distributed Impulsive Consensus of the Multiagent System without Velocity Measurement

This paper deals with the distributed consensus of the multiagent system. In particular, we consider the case where the velocity (second state) is unmeasurable and the communication among agents occurs at sampling instants. Based on the impulsive control theory, we propose an impulsive consensus algorithm that extends some of our previous work to account for the lack of velocity measurement. By using the stability theory of the impulsive system, some necessary and sufficient conditions are obtained to ensure the consensus of the controlled multiagent system. It is shown that the control gains, the sampled period and the eigenvalues of Laplacian matrix of communication graph play key roles in achieving consensus. Finally, a numerical simulation is provided to illustrate the effectiveness of the proposed algorithm

Bounded Coordination Control of Second-order Dynamic Agents

This paper presents a constructive design of distributed and bounded coordination controllers that force mobile agents with second-order dynamics to track desired trajectories and to avoid collision between them. The control design is based on the new bounded control design technique for second-order systems, and new pairwise collision avoidance functions. The pair wise collision functions are functions of both the relative position and velocity of the agents instead of only the relative position as in the literature. Desired features of the proposed control design include:1) Boundedness of the control inputs by a predefined bound despite collision avoidance between the agentsconsidered,2) No collision between any agents,3) Asymptotical stability of desired equilibrium set, and4) Instability of all other undesired critical sets of the closed loop system. The proposed control design is then applied to design a coordination control system for a group of vertical take-off and landing (VTOL) aircraft

Constrained Consensus in Continuous-Time Multi-Agent Systems

Since the consensus problem is getting popular in recent researches and the applications based on it are expanding in current years! the consensus problem under the condition that constraints exist on agents’ state in continuous-time in a multi-agent system has been studied here. This work combines the projection operator method in a general consensus algorithm to avoid the violation of state on its individual constraint set. When the projection operator works in the general consensus algorithm, the constraint region is divided into the projection-operator working region and the non-projection region. The boundary between these two regions is a circular line. Once the state of the correspond agent cross this line, the projection operator starts to work when the state is going out from the non-projection region and moves towards to its constraint boundary. The boundary of the starting circle for projection opera- tor has the same shape with the constraint set boundary. The difference is it has a smaller area with a certain ratio. With a one dimensional projection-based consensus algorithm, we analyzed the projection-based consensus algorithm on the expected-to- arrival (ETA) requirement which is always the problem at the simultaneous arrival task on multiple unmanned aerial vehicles (UAVs) system. The stability and con- vergence rate of the proposed algorithm has been analyzed. Based on the stability and convergence rate, the conditions to guarantee the feasibility of the simultaneous arrival task has also been presented. Then the analysis for projection-based consensus algorithm has been extended in a high dimensions, in this case, the agents can only exchange their state information in continuous time in a connected and undirected communication network topology. The result is proven that since the intersection set of every state constraint is non-empty, the global consensus will eventually be achieved. At last, the projection-based algorithm has been applied on a UAV module, with the UAV dynamics, the algorithm makes a multi-UAV system with different ability in flying reach the global spatial consensus achievement for simultaneous arrival task