Necessary and sufficient conditions for solving consensus problems of double-integrator dynamics via sampled control

被引：164

作者：

Liu, Huiyang ^{[1
]}

Xie, Guangming ^{[1
,2
]}

Wang, Long ^{[1
]}

机构：

[1] Peking Univ, Ctr Syst & Control, State Key Lab Turbulence & Complex Syst, Coll Engn, Beijing 100871, Peoples R China

[2] E China Jiaotong Univ, Sch Elect & Elect Engn, Nanchang 330013, Peoples R China

来源：

INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL | 2010年 / 20卷 / 15期

关键词：

consensus control; networked systems; multi-agent systems; sampled control; fixed topology; MULTIAGENT SYSTEMS; SWITCHING TOPOLOGY; INFORMATION CONSENSUS; AVERAGE CONSENSUS; TIME; NETWORKS; AGENTS; STABILITY; AGREEMENT; SEEKING;

D O I：

10.1002/rnc.1543

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, consensus problems of double-integrator dynamics via sampled control are investigated. The sampled control protocol is induced from continuous-time linear consensus protocol by using periodic sampling technology and zero-order hold circuit. With the obtained sampled control protocol, the continuous-time multi-agent system is equivalently transformed into a linear discrete-time system. Necessary and sufficient conditions are given to guarantee that all the agents asymptotically travel with zero relative positions and common velocities. Furthermore, consensus problem with continuous-time consensus protocol is re-analyzed. A necessary and sufficient condition is also obtained which is consistent with the special case when the sampling period tends to zero. The effectiveness of these algorithms is demonstrated through simulations. Copyright (C) 2009 John Wiley & Sons, Ltd.

引用

页码：1706 / 1722

页数：17

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