期刊
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
卷 53, 期 6, 页码 1503-1509出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TAC.2008.924961
关键词
consensus; cooperative control; coordination; graph theory; multivehicle systems
资金
- National Science Foundation CAREER [ECCS-0748287]
- Utah Water Research Laboratory
- Div Of Electrical, Commun & Cyber Sys
- Directorate For Engineering [1213291, 0748287] Funding Source: National Science Foundation
This note considers consensus algorithms for double-integrator dynamics. We propose and analyze consensus algorithms for double-integrator dynamics in four cases: 1) with a bounded control input, 2) without relative velocity measurements, 3) with a group reference velocity available to each team member, and 4) with a bounded control input when a group reference state is available to only a subset of the team. We show that consensus is reached asymptotically for the first two cases if the undirected interaction graph is connected. We further show that consensus is reached asymptotically for the third case if the directed interaction graph has a directed spanning tree and the gain for velocity matching with the group reference velocity is above a certain bound. We also show that consensus is reached asymptotically for the fourth case if and only if the group reference state flows directly or indirectly to all of the vehicles in the team.
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