Title :
Consensus of second-order multi-agent systems with asynchronous communication topology
Author :
Bin Qi ; Baotong Cui ; Xuyang Lou
Author_Institution :
Sch. of IoT Eng., Jiangnan Univ., Wuxi, China
Abstract :
In this paper, we first give the definition of asynchronous communication topology of second-order multi-agent systems. Then we discuss respectively the leaderless and leader-following consensus problems of the second-order multi-agent systems under asynchronous communication topology. The proposed control protocols based on nearest-neighbor interaction rules can guarantee the leaderless and leader-following consensus to be achieved, as long as the fixed position communication graph is undirected and connected, the switching velocity communication digraph is balanced and jointly weakly connected in any two contiguous switching time-interval. Finally, simulation results are presented to support the effectiveness of our theoretical results.
Keywords :
directed graphs; mobile robots; multi-robot systems; switching systems (control); asynchronous communication topology; contiguous switching time-interval; control protocols; fixed position communication graph; leader-following consensus problems; leaderless consensus problems; nearest-neighbor interaction rules; second-order multiagent systems; switching velocity communication digraph; Asynchronous communication; Laplace equations; Multi-agent systems; Network topology; Protocols; Switches; Topology; Multi-agent systems; asynchronous communication; jointly connected; second-order consensus;
Conference_Titel :
Intelligent Control and Automation (WCICA), 2014 11th World Congress on
DOI :
10.1109/WCICA.2014.7052711