Second-order Consensus Algorithm with Extensions to Switching Topologies and Reference Models

In this paper, we extend the consensus algorithm for double integrator dynamics to the case that the information exchange topologies switch randomly with time and to the case that the final consensus value evolves according to a given nonlinear reference model. We show sufficient conditions under wh...

Full description

Saved in:
Bibliographic Details
Published in2007 American Control Conference pp. 1431 - 1436
Main Author Wei Ren
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.07.2007
Subjects
Algorithm design and analysis
Cities and towns
Control systems
Convergence
Information analysis
Sufficient conditions
Switches
Topology
Tree graphs
Vehicle dynamics
Online AccessGet full text
ISBN9781424409884
1424409888
ISSN0743-1619
DOI10.1109/ACC.2007.4282204

Cover

More Information
Summary:In this paper, we extend the consensus algorithm for double integrator dynamics to the case that the information exchange topologies switch randomly with time and to the case that the final consensus value evolves according to a given nonlinear reference model. We show sufficient conditions under which consensus is reached under switching directed information exchange topologies. Unlike the consensus algorithm for single integrator dynamics, more stringent conditions are required to guarantee consensus under switching directed topologies in the case of the consensus algorithm for double integrator dynamics. In addition, we propose consensus algorithms so that the information variables of each vehicle approach the solution of a nonlinear reference model when only a portion of the vehicles in the team have access to the model.
ISBN:9781424409884
1424409888
ISSN:0743-1619
DOI:10.1109/ACC.2007.4282204