Iterative Consensus for a Class of Second-order Multi-agent Systems

Authors:
Jiantao Shi;Xiao He;Zidong Wang;Donghua Zhou
Affiliations:
Department of Automation, TNList, Tsinghua University, Beijing, Peoples Republic of China 100084;Department of Automation, TNList, Tsinghua University, Beijing, Peoples Republic of China 100084;Department of Automation, TNList, Tsinghua University, Beijing, Peoples Republic of China 100084 and Department of Information Systems and Computing, Brunel University, Uxbridge, UK UB8 3PH;Department of Automation, TNList, Tsinghua University, Beijing, Peoples Republic of China 100084
Venue:
Journal of Intelligent and Robotic Systems
Year:
2014

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Abstract

In this paper, the problem of leader-following consensus for a class of multi-agent systems with double integrator dynamics is investigated based on an iterative learning approach. Consensus errors of individual agents are considered as the anticipation in time, based on which a distributed iterative learning protocol is proposed for the undirected networks with fixed topology to make the followers track the leader in finite time. The dynamic of the leader is assumed to be time-varying and the state information is available to only a portion of the followers. The sufficient condition for solving the consensus problem of the multi-agent system is obtained. A simulation example is provided to demonstrate the effectiveness of the proposed method.