Consensus of multiple second-order agents without velocity measurements

Authors:
Yanping Gao;Long Wang;Yingmin Jia
Affiliations:
Center for Systems and Control, College of Engineering and Key Laboratory of Machine Perception, Ministry of Education, Peking University, Beijing, P. R. China;Center for Systems and Control, College of Engineering and Key Laboratory of Machine Perception, Ministry of Education, Peking University, Beijing, P. R. China;Seventh Research Division, Beihang University, Beijing, P. R. China
Venue:
ACC'09 Proceedings of the 2009 conference on American Control Conference
Year:
2009

Citing 2
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Tracking control for multi-agent consensus with an active leader and variable topology

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Distributed coordination for second-order multi-agent systems with nonlinear dynamics using only relative position measurements

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Abstract

This paper studies consensus problems of multiple second-order agents with time-varying topology. It is assumed that each possible interaction topology is strongly connected and balanced and each agent can only obtain the measurements of its position relative to its neighbors. A feasible protocol is proposed, and by applying the linear matrix inequality technique and the common Lyapunov function approach, some sufficient conditions for consensus are established. Simulations are provided to illustrate the effectiveness of the theoretical results.