Finite-time consensus for multi-agent systems without velocity measurements and with input constraints

Jianting Lyu; Dai Gao; Jiahu Qin

doi:10.1109/ICMC.2014.7231612

Finite-time consensus for multi-agent systems without velocity measurements and with input constraints

Jianting Lyu
, Dai Gao
, Jiahu Qin

School of Mechatronics Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Scopus citations

Abstract

In this paper, we study the finite-time consensus problem for multi-agent systems with double-integrator dynamics. Considering the case that the velocity is not available for feedback and the control inputs are required to be a priori bounded, the velocity-free consensus algorithm is proposed, in which, the graph theory, homogeneous method and Lyapunov stability theory are applied. The proposed velocity-free algorithm guarantees that the states of all agents can reach consensus in finite time and satisfies input saturation requirement. Numerical simulation is provided to validate the effectiveness of the proposed method.

Original language	English
Title of host publication	Proceedings - 2014 International Conference on Mechatronics and Control, ICMC 2014
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	528-532
Number of pages	5
ISBN (Electronic)	9781479925384
DOIs	https://doi.org/10.1109/ICMC.2014.7231612
State	Published - 31 Aug 2015
Event	International Conference on Mechatronics and Control, ICMC 2014 - Jinzhou, China Duration: 3 Jul 2014 → 5 Jul 2014

Publication series

Name	Proceedings - 2014 International Conference on Mechatronics and Control, ICMC 2014

Conference

Conference	International Conference on Mechatronics and Control, ICMC 2014
Country/Territory	China
City	Jinzhou
Period	3/07/14 → 5/07/14

Keywords

Algorithm design and analysis
Control systems
Heuristic algorithms
Multi-agent systems
Network topology
Protocols
Velocity measurement

Access to Document

10.1109/ICMC.2014.7231612

Cite this

Lyu, J., Gao, D., & Qin, J. (2015). Finite-time consensus for multi-agent systems without velocity measurements and with input constraints. In Proceedings - 2014 International Conference on Mechatronics and Control, ICMC 2014 (pp. 528-532). Article 7231612 (Proceedings - 2014 International Conference on Mechatronics and Control, ICMC 2014). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICMC.2014.7231612

Lyu, Jianting ; Gao, Dai ; Qin, Jiahu. / Finite-time consensus for multi-agent systems without velocity measurements and with input constraints. Proceedings - 2014 International Conference on Mechatronics and Control, ICMC 2014. Institute of Electrical and Electronics Engineers Inc., 2015. pp. 528-532 (Proceedings - 2014 International Conference on Mechatronics and Control, ICMC 2014).

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title = "Finite-time consensus for multi-agent systems without velocity measurements and with input constraints",

abstract = "In this paper, we study the finite-time consensus problem for multi-agent systems with double-integrator dynamics. Considering the case that the velocity is not available for feedback and the control inputs are required to be a priori bounded, the velocity-free consensus algorithm is proposed, in which, the graph theory, homogeneous method and Lyapunov stability theory are applied. The proposed velocity-free algorithm guarantees that the states of all agents can reach consensus in finite time and satisfies input saturation requirement. Numerical simulation is provided to validate the effectiveness of the proposed method.",

keywords = "Algorithm design and analysis, Control systems, Heuristic algorithms, Multi-agent systems, Network topology, Protocols, Velocity measurement",

author = "Jianting Lyu and Dai Gao and Jiahu Qin",

note = "Publisher Copyright: {\textcopyright} 2014 IEEE.; International Conference on Mechatronics and Control, ICMC 2014 ; Conference date: 03-07-2014 Through 05-07-2014",

year = "2015",

month = aug,

day = "31",

doi = "10.1109/ICMC.2014.7231612",

language = "英语",

series = "Proceedings - 2014 International Conference on Mechatronics and Control, ICMC 2014",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "528--532",

booktitle = "Proceedings - 2014 International Conference on Mechatronics and Control, ICMC 2014",

address = "美国",

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Lyu, J, Gao, D & Qin, J 2015, Finite-time consensus for multi-agent systems without velocity measurements and with input constraints. in Proceedings - 2014 International Conference on Mechatronics and Control, ICMC 2014., 7231612, Proceedings - 2014 International Conference on Mechatronics and Control, ICMC 2014, Institute of Electrical and Electronics Engineers Inc., pp. 528-532, International Conference on Mechatronics and Control, ICMC 2014, Jinzhou, China, 3/07/14. https://doi.org/10.1109/ICMC.2014.7231612

Finite-time consensus for multi-agent systems without velocity measurements and with input constraints. / Lyu, Jianting; Gao, Dai; Qin, Jiahu.
Proceedings - 2014 International Conference on Mechatronics and Control, ICMC 2014. Institute of Electrical and Electronics Engineers Inc., 2015. p. 528-532 7231612 (Proceedings - 2014 International Conference on Mechatronics and Control, ICMC 2014).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Gao, Dai

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N2 - In this paper, we study the finite-time consensus problem for multi-agent systems with double-integrator dynamics. Considering the case that the velocity is not available for feedback and the control inputs are required to be a priori bounded, the velocity-free consensus algorithm is proposed, in which, the graph theory, homogeneous method and Lyapunov stability theory are applied. The proposed velocity-free algorithm guarantees that the states of all agents can reach consensus in finite time and satisfies input saturation requirement. Numerical simulation is provided to validate the effectiveness of the proposed method.

AB - In this paper, we study the finite-time consensus problem for multi-agent systems with double-integrator dynamics. Considering the case that the velocity is not available for feedback and the control inputs are required to be a priori bounded, the velocity-free consensus algorithm is proposed, in which, the graph theory, homogeneous method and Lyapunov stability theory are applied. The proposed velocity-free algorithm guarantees that the states of all agents can reach consensus in finite time and satisfies input saturation requirement. Numerical simulation is provided to validate the effectiveness of the proposed method.

KW - Algorithm design and analysis

KW - Control systems

KW - Heuristic algorithms

KW - Multi-agent systems

KW - Network topology

KW - Protocols

KW - Velocity measurement

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DO - 10.1109/ICMC.2014.7231612

M3 - 会议稿件

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BT - Proceedings - 2014 International Conference on Mechatronics and Control, ICMC 2014

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - International Conference on Mechatronics and Control, ICMC 2014

Y2 - 3 July 2014 through 5 July 2014

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Lyu J, Gao D, Qin J. Finite-time consensus for multi-agent systems without velocity measurements and with input constraints. In Proceedings - 2014 International Conference on Mechatronics and Control, ICMC 2014. Institute of Electrical and Electronics Engineers Inc. 2015. p. 528-532. 7231612. (Proceedings - 2014 International Conference on Mechatronics and Control, ICMC 2014). doi: 10.1109/ICMC.2014.7231612

Finite-time consensus for multi-agent systems without velocity measurements and with input constraints

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