Title :
Maximum consensus speed of second-order multi-agent network systems under a kind of dynamic consensus protocols
Author_Institution :
Sch. of Math. Sci., Nanjing Normal Univ., Nanjing, China
Abstract :
This paper deals with the maximum consensus speed of multi-agent network systems with double-integrator under a kind of consensus protocols. It is revealed that the maximum consensus speed is determined by the largest and the second smallest eigenvalues of the Laplacian matrix of graph of the network. For a revised form the protocol, arbitrary desired consensus speed can be achieved by choosing suitable gains. Numerical simulations are given to illustrate the main results.
Keywords :
Laplace equations; eigenvalues and eigenfunctions; graph theory; matrix algebra; multi-agent systems; multi-robot systems; protocols; Laplacian matrix; double-integrator; dynamic consensus protocols; eigenvalues; maximum consensus speed; network graph; second-order multiagent network systems; Convergence; Eigenvalues and eigenfunctions; Laplace equations; Multiagent systems; Nickel; Protocols; Topology; Consensus Protocol; Maximum Consensus Speed; Multi-agent Systems;
Conference_Titel :
Control Conference (CCC), 2010 29th Chinese
Conference_Location :
Beijing
Print_ISBN :
978-1-4244-6263-6
