Second-order Consensus for Multi-agent Systems with Limited Communication Range
This paper studies the second-order consensus problem for multi-agent systems with a limited communication range where two agents can communicate with each other only when they are within a certain distance.Second-order consensus means that the agents asymptotically gather to a point and move in the same velocity.Different form most existing works where the change of network topology is independent of the system evolution,we construct a Cuker-Smale type model to formulate the relation between the network topology and the system state.The main result of this paper provides a sufficient condition on the initial velocities,positions and the communication range which can guarantee the multi-agent system to asymptotically achieve the second-order consensus.We prove it using the Lyapunov functional approach.Finally,simulation examples are given to verify the theorem.
Multi-agent system second-order consensus Cuker-Smale model Lyapunov functional
AI Xiaodong YOU Keyou SONG Shiji
Department of Automation,Tsinghua University,Beijing 100084,P.R.China
国际会议
The 33th Chinese Control Conference第33届中国控制会议
南京
英文
1615-1619
2014-07-28（万方平台首次上网日期，不代表论文的发表时间）