Discrete Double Integrator Consensus

被引：35

作者：

Casbeer, David W. ^{[1
]}

Beard, Randy ^{[1
]}

Swindlehurst, A. Lee ^{[2
]}

机构：

[1] Brigham Young Univ, Dept Elect & Comp Engn, Provo, UT 84602 USA

[2] Univ Calif Irvine, Dept Elect & Comp Engn, Irvine, CA 92717 USA

来源：

47TH IEEE CONFERENCE ON DECISION AND CONTROL, 2008 (CDC 2008) | 2008年

基金：

美国国家科学基金会;

关键词：

D O I：

10.1109/CDC.2008.4739168

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A distributed double integrator discrete time consensus protocol is presented along with stability analysis. The protocol will achieve consensus when the communication topology contains at least a directed spanning tree. Average consensus is achieved when the communication topology is strongly connected and balanced, where average consensus for double integrator systems is discussed. For second order systems average consensus occurs when the information states tend toward the average of the current information states not their initial values. Lastly, perturbation to the consensus protocol is addressed. Using a designed perturbation input, an algorithm is presented that accurately tracks the center of a vehicle formation in a decentralized manner.

引用

页码：2264 / 2269

页数：6

共 19 条

[1]

Brogan W. L., 1991, MODERN CONTROL THEOR, P245

[2] Information flow and cooperative control of vehicle formations [J].

Fax, JA ;

Murray, RM .

IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2004, 49 (09) :1465-1476

[3] Coordination of groups of mobile autonomous agents using nearest neighbor rules [J].

Jadbabaie, A ;

Lin, J ;

Morse, AS .

IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2003, 48 (06) :988-1001

[4]

Kingston D. B., 2006, P AM CONTR C

[5] Decentralized control of vehicle formations [J].

Lafferriere, G ;

Williams, A ;

Caughman, J ;

Veerman, JJP .

SYSTEMS & CONTROL LETTERS, 2005, 54 (09) :899-910

[6] Necessary and sufficient graphical conditions for formation control of unicycles [J].

Lin, ZY ;

Francis, B ;

Maggiore, M .

IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2005, 50 (01) :121-127

[7] Local control strategies for groups of mobile autonomous agents [J].

Lin, ZY ;

Broucke, M ;

Francis, B .

IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2004, 49 (04) :622-629

[8] Stability of multiagent systems with time-dependent communication links [J].

Moreau, L .

IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2005, 50 (02) :169-182

[9] Supervisory control of families of linear set-point controllers .1. Exact matching [J].

Morse, AS .

IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 1996, 41 (10) :1413-1431

[10] Flocking for multi-agent dynamic systems: Algorithms and theory [J].

Olfati-Saber, R .

IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2006, 51 (03) :401-420

← 1 2 →