1,505 research outputs found
Distributed Consensus of Linear Multi-Agent Systems with Switching Directed Topologies
This paper addresses the distributed consensus problem for a linear
multi-agent system with switching directed communication topologies. By
appropriately introducing a linear transformation, the consensus problem is
equivalently converted to a stabilization problem for a class of switched
linear systems. Some sufficient consensus conditions are then derived by using
tools from the matrix theory and stability analysis of switched systems. It is
proved that consensus in such a multi-agent system can be ensured if each agent
is stabilizable and each possible directed topology contains a directed
spanning tree. Finally, a numerical simulation is given for illustration.Comment: The paper will be presented at the 2014 Australian Control Conference
(AUCC 2014), Canberra, Australi
An Overview of Recent Progress in the Study of Distributed Multi-agent Coordination
This article reviews some main results and progress in distributed
multi-agent coordination, focusing on papers published in major control systems
and robotics journals since 2006. Distributed coordination of multiple
vehicles, including unmanned aerial vehicles, unmanned ground vehicles and
unmanned underwater vehicles, has been a very active research subject studied
extensively by the systems and control community. The recent results in this
area are categorized into several directions, such as consensus, formation
control, optimization, task assignment, and estimation. After the review, a
short discussion section is included to summarize the existing research and to
propose several promising research directions along with some open problems
that are deemed important for further investigations
- …