Title :
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
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;
Conference_Titel :
Decision and Control, 2007 46th IEEE Conference on
Conference_Location :
New Orleans, LA
Print_ISBN :
978-1-4244-1497-0
Electronic_ISBN :
0191-2216
DOI :
10.1109/CDC.2007.4434358
