Title :
A simple second-order consensus and formation control for multi-vehicle systems
Author :
Quan Jie ; Jiang Guoping
Author_Institution :
Coll. of Autom., Nanjing Univ. of Posts & Telecommun., Nanjing, China
Abstract :
In this paper, we propose a simple consensus algorithm for systems modeled by second-order dynamics, and derive necessary and sufficient conditions under which consensus can be reached based on algebraic graph theory and matrix analysis. We apply the simple second-order consensus algorithm to tackle formation control problems. The second-order consensus protocol and a multi-vehicle system formation control example are shown in simulation to illustrate our strategies.
Keywords :
graph theory; matrix algebra; multi-robot systems; position control; algebraic graph theory; formation control; matrix analysis; multi-vehicle systems; necessary conditions; second-order dynamics; simple second-order consensus algorithm; sufficient conditions; Control systems; Educational institutions; Electronic mail; Heuristic algorithms; Mobile communication; Vehicle dynamics; Vehicles; Algebraic graph theory; Formation control; Matrix analysis; Multi-vehicle Systems; Second-order consensus;
Conference_Titel :
Control Conference (CCC), 2014 33rd Chinese
Conference_Location :
Nanjing
DOI :
10.1109/ChiCC.2014.6896822
