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Consensus analysis for a class of mixed-order multi-agent system


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Consensus analysis for a class of mixed-order multi-agent system
Luo JingLiu ChenglinLiu Fei
Key Laboratory of Advanced Process Control for Light Industry(Ministry of Education), Jiangnan University,Wuxi 214122,China
mixed-order multi-agent systems consensus input delay directed topology
By simplifying the mathematical models of differential unmanned ground vehicles and quadrotor unmanned aerial vehicles as single integrators and fourth-order integrators respectively,the consensus problem is investigated for the mixed-order multi-agent systems composed of first-order agents and fourth-order agents in this paper.Stationary consensus algorithms are designed for the first-order agent and the fourth-order agent respectively.Under the fixed directed topology,the necessary and sufficient condition is obtained for the multi-agent systems converging to an asymptotic consensus by using the algebraic graph theory and the matrix theory.By constructing the Lyapunov-Krasovskii functional,the sufficient consensus condition being expressed as a linear matrix inequality is obtained for multi-agent systems subject to time-varying input delay.Simulation results verify the effectiveness of the theoretical findings.


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Last Update: 2016-10-30