Title :
The results of consensus for the network of multi-agents with double-integrator dynamics
Author :
Cui Shaochun ; Zhang Xian
Author_Institution :
Sch. of Math. Sci., Heilongjiang Univ., Harbin, China
Abstract :
In this paper, we investigate the consensus problem for the network of multi-agents with double-integrator dynamics. Due to the difference between the position and velocity topologies, we propose an algorithm that a pair of matrices can be simultaneously brought to approximate upper triangular form. Thereby, a sufficient condition under which the network of multi-agents reach asymptotically consensus is given out. Two examples are provided to demonstrate the effectiveness of our theoretical results.
Keywords :
matrix algebra; multi-robot systems; position control; robot dynamics; topology; velocity control; approximate upper triangular form; asymptotic consensus; consensus problem; double-integrator dynamics; matrix pair; multiagent network; position topology; sufficient condition; velocity topology; Approximation algorithms; Approximation methods; Laplace equations; Network topology; Protocols; Topology; Vectors; Consensus; approximate common eigenvector; double-integrator dynamics; network of multi-agents; simultaneous triangulation;
Conference_Titel :
Control Conference (CCC), 2013 32nd Chinese
Conference_Location :
Xi´an
