Guaranteed cost consensus for second-order multi-agent systems with heterogeneous inertias

In this paper, the guaranteed cost consensus problem for second-order multi-agent systems with directed topology is considered, in which each agent has a heterogeneous inertia and control gain. The distributed control protocols with the absolute and relative velocity dampings are proposed, respectiv...

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Bibliographic Details
Published inApplied mathematics and computation Vol. 338; pp. 739 - 757
Main Authors Yu, Zhiyong, Jiang, Haijun, Mei, Xuehui, Hu, Cheng
Format Journal Article
LanguageEnglish
Published Elsevier Inc 01.12.2018
Subjects
Consensus
Guaranteed cost
Heterogeneous inertias
Multi-agent systems
Second-order
Guaranteed cost
Heterogeneous inertias
Consensus
Second-order
Multi-agent systems
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Summary:In this paper, the guaranteed cost consensus problem for second-order multi-agent systems with directed topology is considered, in which each agent has a heterogeneous inertia and control gain. The distributed control protocols with the absolute and relative velocity dampings are proposed, respectively. In each kind of protocol, both the communications with and without the input time delay are also considered. By introducing the auxiliary variables and using Lyapunov stability theory, some sufficient conditions are given to achieve the consensus. Moreover, the upper bounds of the guaranteed cost functions are obtained. Finally, some simulation examples are presented to show the effectiveness of the proposed approaches.
ISSN:0096-3003
1873-5649
DOI:10.1016/j.amc.2018.06.031