NDLI: Velocity-consensus control for networks of multiple double-integrators

Content Provider	IEEE Xplore Digital Library
Author	Jie Chen Long Wang Feng Xiao
Copyright Year	2009
Description	Author affiliation: School of Automation, Beijing Institute of Technology, 100081, China (Jie Chen; Feng Xiao) \|\| Intelligent Control Laboratory, Center for Systems and Control, College of Engineering, and Key Laboratory of Machine Perception (Ministry of Education), Peking University, Beijing 100871, China (Long Wang)
Abstract	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.
Starting Page	2052
Ending Page	2057
File Size	433866
Page Count	6
File Format	PDF
ISBN	9781424438716
ISSN	01912216
DOI	10.1109/CDC.2009.5399923
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-12-15
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Velocity control Network topology Automatic control Control systems Protocols Multiagent systems Vehicle dynamics Electronic mail Laboratories Distributed control
Content Type	Text
Resource Type	Article

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