Consensus of second-order heterogeneous multi-agent systems under a directed graph

Jie Mei; Wei Ren; Jie Chen

doi:10.1109/ACC.2014.6859492

Consensus of second-order heterogeneous multi-agent systems under a directed graph

Jie Mei
, Wei Ren
, Jie Chen

Department of Electrical Engineering

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

46 Citations (Scopus)

Abstract

In this paper, we study the consensus problem for second-order heterogeneous multi-agent systems under a directed graph. Unlike the existing consensus algorithms for second-order multi-agent systems in which all agents are assumed to have common unit inertias or share common control gains, we allow the inertias and the control gains to be heterogeneous for each agent. Fully distributed consensus algorithms are proposed when there exist, respectively, absolute velocity damping and relative velocity damping. Moreover, an adaptive σ-modification scheme for the gain adaption is proposed, which renders smaller control gains and thus requires smaller amplitude on the control input without sacrificing the consensus convergence. © 2014 American Automatic Control Council.

Original language	English
Title of host publication	2014 American Control Conference
Publisher	IEEE
Pages	802-807
ISBN (Electronic)	978-1-4799-3274-0, 978-1-4799-3271-9
ISBN (Print)	9781479932726
DOIs	https://doi.org/10.1109/ACC.2014.6859492
Publication status	Published - Jun 2014
Event	2014 American Control Conference (ACC 2014) - Portland, United States Duration: 4 Jun 2014 → 6 Jun 2014

Publication series

Name
ISSN (Print)	0743-1619

Conference

Conference	2014 American Control Conference (ACC 2014)
Place	United States
City	Portland
Period	4/06/14 → 6/06/14

Research Keywords

Autonomous systems
Cooperative control
Decentralized control

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10.1109/ACC.2014.6859492

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title = "Consensus of second-order heterogeneous multi-agent systems under a directed graph",

abstract = "In this paper, we study the consensus problem for second-order heterogeneous multi-agent systems under a directed graph. Unlike the existing consensus algorithms for second-order multi-agent systems in which all agents are assumed to have common unit inertias or share common control gains, we allow the inertias and the control gains to be heterogeneous for each agent. Fully distributed consensus algorithms are proposed when there exist, respectively, absolute velocity damping and relative velocity damping. Moreover, an adaptive σ-modification scheme for the gain adaption is proposed, which renders smaller control gains and thus requires smaller amplitude on the control input without sacrificing the consensus convergence. {\textcopyright} 2014 American Automatic Control Council.",

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AB - In this paper, we study the consensus problem for second-order heterogeneous multi-agent systems under a directed graph. Unlike the existing consensus algorithms for second-order multi-agent systems in which all agents are assumed to have common unit inertias or share common control gains, we allow the inertias and the control gains to be heterogeneous for each agent. Fully distributed consensus algorithms are proposed when there exist, respectively, absolute velocity damping and relative velocity damping. Moreover, an adaptive σ-modification scheme for the gain adaption is proposed, which renders smaller control gains and thus requires smaller amplitude on the control input without sacrificing the consensus convergence. © 2014 American Automatic Control Council.

KW - Autonomous systems

KW - Cooperative control

KW - Decentralized control

UR - https://www.scopus.com/pages/publications/84905714750

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U2 - 10.1109/ACC.2014.6859492

DO - 10.1109/ACC.2014.6859492

M3 - RGC 32 - Refereed conference paper (with host publication)

SN - 9781479932726

SP - 802

EP - 807

BT - 2014 American Control Conference

PB - IEEE

T2 - 2014 American Control Conference (ACC 2014)

Y2 - 4 June 2014 through 6 June 2014

ER -

Consensus of second-order heterogeneous multi-agent systems under a directed graph

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