Consensus of multiple second-order vehicles with a time-varying reference signal under directed topology

Authors:
Jiahu Qin;Wei Xing Zheng;Huijun Gao
Affiliations:
Research Institute of Intelligent Control and Systems, Harbin Insitute of Technology, Harbin 150001, China and School of Computing and Mathematics, University of Western Sydney, Penrith NSW 2751, ...;School of Computing and Mathematics, University of Western Sydney, Penrith NSW 2751, Australia;Research Institute of Intelligent Control and Systems, Harbin Insitute of Technology, Harbin 150001, China
Venue:
Automatica (Journal of IFAC)
Year:
2011

Citing 2
Cited 3

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Two consensus problems for discrete-time multi-agent systems with switching network 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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Cluster consensus control of generic linear multi-agent systems under directed topology with acyclic partition

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Abstract

This paper investigates two kinds of different consensus strategies for multi-vehicle systems with a time-varying reference velocity under directed communication topology, where the systems are modeled by double-integrator dynamics. For the fixed communication topology case, we provide a necessary and sufficient condition for all the vehicles with reference velocity to reach consensus by the use of a new graphic methodology. We then extend this method to deal with the general case, that is, both the communication topologies and weighting factors are dynamically changing. In particular, it is shown that all the vehicles can reach consensus even though the dynamically changing interaction topology may not have a globally reachable node.