A consensus problem for a class of vehicles with 2-D dynamics

Authors:
Xinjin Liu;Yun Zou
Affiliations:
School of Automation, Nanjing University of Science and Technology, Nanjing, People's Republic of China 210094;School of Automation, Nanjing University of Science and Technology, Nanjing, People's Republic of China 210094
Venue:
Multidimensional Systems and Signal Processing
Year:
2010

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Abstract

In this paper, we consider the problem of a kind of consensus problem among a collection of vehicles performing a shared task with 2-D Fornasini-Marchesini second local state-space (LSS) dynamical model by using intervehicle communication and output feedback themselves in which the weights of the corresponding edges are considered as the control variables. Firstly, it is shown that under certain conditions, the stability of a collection of N identical vehicles can be equivalently transferred into the stability analysis of a single vehicle with the same dynamics, modified by only a scalar, representing the interconnection, that takes values according to the eigenvalues of the weights matrix. Then, two types of networks, star-shaped networks and globally coupled networks, are studied in details. Secondly, the general description are presented for such consensus problem via the block diagram of information flow. Finally, a collection of vehicles with different 2-D LSS dynamical model is investigated.