The Designated Convergence Rate Problem of Consensus or Flocking of Double-Integrator Agents with General Non-Equal Velocity and Position Couplings

Research output: Journal Publications and Reviews (RGC: 21, 22, 62)21_Publication in refereed journalpeer-review

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Detail(s)

Original languageEnglish
Article number7407329
Pages (from-to)412-418
Journal / PublicationIEEE Transactions on Automatic Control
Volume62
Issue number1
Publication statusPublished - 1 Jan 2017

Abstract

This technical note considers consensus or flocking of coupled multiple double-integrator agents, in which the velocity coupling and position coupling (VCPC) between agents, respectively, are generally non-equal, differing from the equal VCPC setting in the vast literature. This technical note addresses the problem in two aspects: The convergence condition, and particularly the designated convergence rate (or designated convergence margin) condition that was rarely investigated for either flocking, formation, or consensus. Correspondingly, this technical note has two contributions: 1) some necessary and sufficient convergence conditions for flocking or consensus are established, which extend the existing results in the field; and particularly 2) some necessary and sufficient conditions are derived, to guarantee the designated convergence rate of consensus or flocking, which are more valuable for systems design than just convergence analysis performed by most other works on multi-Agent systems.

Research Area(s)

  • Consensus, consensus margin, convergence margin, cooperative control, designated convergence-rate problem, flocking, formation, multi-Agent system, rendezvous, stability margin

Citation Format(s)

The Designated Convergence Rate Problem of Consensus or Flocking of Double-Integrator Agents with General Non-Equal Velocity and Position Couplings. / Li, Wei; Chen, Guanrong.

In: IEEE Transactions on Automatic Control, Vol. 62, No. 1, 7407329, 01.01.2017, p. 412-418.

Research output: Journal Publications and Reviews (RGC: 21, 22, 62)21_Publication in refereed journalpeer-review