Consensus Analysis of High-order Multi-agent Network in Fixed and Dynamical Switching Topology

doi:10.3969/j.issn.1000-1093.2012.01.010

Abstract

Abstract: New results are put forward for consensus analysis of high-order multi-agent network from the perspective of algebraic theory, subject to the application problem of existing consensus analysis achievements of first-order directed network in high-order network. Under certain condition, the system matrix of directed network is Metzler with zero row sum by model transformation where the dynamics of agents is modeled as a high-order integrator. Thus the analysis results of first-order consensus algorithms are extended to high-order ones using algebraic theory, nonnegative matrix theory and control theory. The consensus conditions and consensus states are proposed for leaderless and leader-follower cases in fixed topology. Moreover, it is proved that the whole closed-loop network achieves consensus asymptotically if the union of directed graphs across finite switching intervals has a spanning tree in dynamic switching topology. Simulation examples and multi-vehicle formation control simulation validate the soundness of the theoretical results.

Key words: automatic control technology, consensus, high-order multi-agent network, dynamically switching topology, multi-vehicle formation control

CLC Number:

TP13

YU Di， WU Qing-he， WANG Yin-qiu. Consensus Analysis of High-order Multi-agent Network in Fixed and Dynamical Switching Topology[J]. Acta Armamentarii, 2012, 33(1): 56-62.

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