Finite-time consensus of multiple second-order dynamic agents without velocity measurements

被引:53
作者
Zheng, Yuanshi [1 ]
Zhu, Yunru [1 ]
Wang, Long [2 ]
机构
[1] Xidian Univ, Sch Mechanoelect Engn, Ctr Complex Syst, Xian 710071, Peoples R China
[2] Peking Univ, Coll Engn, Ctr Syst & Control, Beijing 100871, Peoples R China
关键词
multi-agent systems; second-order finite-time consensus; without velocity measurements; HETEROGENEOUS MULTIAGENT SYSTEMS; DOUBLE-INTEGRATOR DYNAMICS; SWITCHING TOPOLOGIES; VARYING DELAYS; INFORMATION EXCHANGE; ALGORITHMS; NETWORKS; SEEKING;
D O I
10.1080/00207721.2012.724108
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
This article considers the finite-time consensus of multiple second-order dynamic agents without velocity measurements. A feasible protocol under which each agent can only obtain the measurements of its position relative to its neighbours is proposed. By applying the graph theory, Lyapunov theory and the homogeneous domination method, some sufficient conditions for finite-time consensus of second-order multi-agent systems are established under the different kinds of communication topologies. Some examples are presented to illustrate the effectiveness of the theoretical results.
引用
收藏
页码:579 / 588
页数:10
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