Control schemes based on the wave equation for consensus in multi-agent systems with double-integrator dynamics

Author

Galbusera, Luca ; Marciandi, Marco Pietro Enrico ; Bolzern, Paolo ; Ferrari-Trecate, Giancarlo

Author_Institution

Politecnico di Milano, Milan

fYear

2007

fDate

12-14 Dec. 2007

Firstpage

1498

Lastpage

1503

Abstract

In this paper, we consider the problem of driving a group of agents communicating through an undirected and weighted network towards a consensus point. We assume that agents obey to double-integrator dynamics and study decentralized control schemes for consensus of the position variables. In particular we revisit control policies proposed in [1] and [2] in the unified framework of Partial difference Equations over graphs and highlight the link between the closed-loop system dynamics and the damped wave equation describing the motion of a free elastic beam.

Keywords

beams (structures); closed loop systems; decentralised control; elasticity; multi-agent systems; partial differential equations; position control; wave equations; closed-loop system dynamics; damped wave equation; decentralized control; double-integrator dynamics; free elastic beam; multi-agent systems; partial difference equations; position variables; Communication networks; Communication system control; Control systems; Difference equations; Distributed control; Electronic mail; Laplace equations; Multiagent systems; Partial differential equations; Vehicle dynamics;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 2007 46th IEEE Conference on

Conference_Location

New Orleans, LA

ISSN

0191-2216

Print_ISBN

978-1-4244-1497-0

Electronic_ISBN

0191-2216

Type

conf

DOI

10.1109/CDC.2007.4434358

Filename

4434358