scholarly journals Adjacent-Compensation Consensus Algorithm in Asynchronously Coupled Form for Second-Order Multiagent Network under Communication Delay

2014 ◽  
Vol 2014 ◽  
pp. 1-7
Author(s):  
Cheng-Lin Liu ◽  
Fei Liu
Keyword(s):  
Multiagent Systems ◽  
Spanning Tree ◽  
Frequency Domain Analysis ◽  
Second Order ◽  
Communication Delay ◽  
Consensus Algorithm ◽  
Coordination Control ◽  
Control Framework ◽  
Leader Following ◽  
Delay Dependent

General asynchronously coupled consensus algorithm associated with adjacent compensations, is proposed to solve the dynamical consensus problem of second-order multiagent network with communication delay under leader-following coordination control framework. Based on frequency-domain analysis, firstly, delay-independent consensus convergence is proved for the second-order multiagent systems with a spanning tree topology that has the leader root and then delay-dependent consensus condition is obtained for the multiagent systems with communication delay under a general leader-following interconnection topology. Simulation illustrates the correctness of the results.

Fixed-Time Leader-Following Consensus for Second-Order Multiagent Systems With Input Delay

2017 ◽  
Vol 64 (11) ◽  
pp. 8635-8646 ◽  
Author(s):  
Junkang Ni ◽  
Ling Liu ◽  
Chongxin Liu ◽  
Jian Liu
Keyword(s):  
Multiagent Systems ◽  
Fixed Time ◽  
Second Order ◽  
Input Delay ◽  
Leader Following

scholarly journals Energy-Limited Time-Varying Formation Control for Second-Order Multiagent Systems

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-15
Author(s):  
Wanzhen Quan ◽  
Yulong Zhao ◽  
Le Wang ◽  
Xiaogang Yang
Keyword(s):  
Control Problem ◽  
Total Energy ◽  
Multiagent Systems ◽  
Formation Control ◽  
Orthogonal Transformation ◽  
Second Order ◽  
Time Varying ◽  
Limited Time ◽  
Leader Following ◽  
Energy Limitation

The energy-limited time-varying formation (ETVF) control problem of second-order multiagent systems (MAS) is addressed for both leaderless and leader-following communication topologies in this paper. Different from the previous results, the joint consideration of energy limitation and formation design is more challenging and practical. First, an ETVF control protocol is presented, and the total energy supply is pregiven and limited, which is more common in practical applications. Then, by an orthogonal transformation, the formation control problem is converted into the consensus stabilization problem for second-order leaderless MAS, where sufficient conditions for the ETVF are derived by joint design of control gains and the total energy. At the same time, the explicit formula that forms the formation center function is obtained to depict the macroscopic movement of the multiagent system as a whole. Moreover, the proposed method is also extended to the leader-following communication structure. Finally, two examples are given to verify the effectiveness of our theoretical results.

Sign in / Sign up

Export Citation Format

Share Document