Position Deviation Based Second-Order Consensus in Multiple
For second-order dynamic model of multi-vehicle system,we investigate a second-order consensus protocol for the system in the case of collecting information without time-delay.By introducing position tracking value,we propose a simple second-order consensus protocol,making the states of each vehicle converge to the given tracking values.The necessary and sufficient condition under which second-order consensus can be reached is derived by using the system stability theory.The second consensus is then applied to the multiple vehicle systems with four vehicles as an illustrative example.
Multiple vehicle systems Second-order consensus Position tracking value Lyapunov indirect discrimination
Jie Quan Guoping Jiang
College of Automation,Nanjing University of Posts and Telecommunications,Nanjing 210023
国际会议
长沙
英文
2135-2138
2014-05-31（万方平台首次上网日期，不代表论文的发表时间）