TY - GEN
T1 - Velocity-consensus control for networks of multiple double-integrators
AU - Chen, Jie
AU - Wang, Long
AU - Xiao, Feng
PY - 2009
Y1 - 2009
N2 - This paper studies the velocity-consensus problem of multi-agent systems with second-order agent dynamics and proposes an asynchronous distributed consensus protocol allowing for switching interaction topology, time-varying delays and intermittent information transmission. Unlike the existing works, the agreement of position-like states is not required in this paper. Velocity consensus is a prerequisite of the popular Vicsek model and can find its broad applications in congestion control for internet, distributed task management, distributed estimation for sensor networks, etc. We first give an approach to approximating velocities based on delayed position-like information and then provide the design and analysis results for the velocity-consensus control. We show that if the union of the interaction topology across the time interval with some given length always contains a spanning tree, then the proposed asynchronous protocol will solve the velocity-consensus problem asymptotically.
AB - This paper studies the velocity-consensus problem of multi-agent systems with second-order agent dynamics and proposes an asynchronous distributed consensus protocol allowing for switching interaction topology, time-varying delays and intermittent information transmission. Unlike the existing works, the agreement of position-like states is not required in this paper. Velocity consensus is a prerequisite of the popular Vicsek model and can find its broad applications in congestion control for internet, distributed task management, distributed estimation for sensor networks, etc. We first give an approach to approximating velocities based on delayed position-like information and then provide the design and analysis results for the velocity-consensus control. We show that if the union of the interaction topology across the time interval with some given length always contains a spanning tree, then the proposed asynchronous protocol will solve the velocity-consensus problem asymptotically.
UR - https://www.scopus.com/pages/publications/77950810229
U2 - 10.1109/CDC.2009.5399923
DO - 10.1109/CDC.2009.5399923
M3 - 会议稿件
AN - SCOPUS:77950810229
SN - 9781424438716
T3 - Proceedings of the IEEE Conference on Decision and Control
SP - 2052
EP - 2057
BT - Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009
Y2 - 15 December 2009 through 18 December 2009
ER -