Brief paper: Adaptive second-order consensus of networked mobile agents with nonlinear dynamics

Authors:
Housheng Su;Guanrong Chen;Xiaofan Wang;Zongli Lin
Affiliations:
Department of Control Science and Engineering, Image Processing and Intelligent Control Key Laboratory of Education Ministry of China, Huazhong University of Science and Technology, Luoyu Road 103 ...;Department of Electronic Engineering, City University of Hong Kong, Tat Chee Avenue, Kowloon, Hong Kong;Department of Automation, Shanghai Jiao Tong University, Dongchuan Road 800, Shanghai 200240, China;Charles L. Brown Department of Electrical and Computer Engineering, University of Virginia, P.O. Box 400473, Charlottesville, VA 22904-4743, USA
Venue:
Automatica (Journal of IFAC)
Year:
2011

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Abstract

We investigate second-order consensus of multiple nonlinear dynamical mobile agents with a virtual leader in a dynamic proximity network. We assume that only a small fraction of agents in the group have access to the information about the position and velocity of the virtual leader through, for example, certain pre-designed communication mechanism such as wireless broadcasting or sensing. To avoid fragmentation, we propose a connectivity-preserving second-order consensus algorithm. Under the assumption that the initial network is connected, we introduce local adaptation strategies for both the weights on the velocity navigational feedback and the velocity coupling strengths that enable all agents to synchronize with the virtual leader even when only one agent is informed, without requiring any knowledge of the agent dynamics. We finally provide some convincing simulation results to illustrate the theoretical results.