期刊
IET CONTROL THEORY AND APPLICATIONS
卷 12, 期 6, 页码 753-760出版社
INST ENGINEERING TECHNOLOGY-IET
DOI: 10.1049/iet-cta.2017.0728
关键词
discrete time systems; multi-robot systems; graph theory; matrix algebra; group consensus control; discrete-time heterogeneous first-order multiagent systems; discrete-time heterogeneous second-order multiagent systems; group consensus problem; distributed group consensus protocols; directed communication topology; matrix theory; graph theory
资金
- Overseas Research & Training Program for Universities of Jiangsu Province
- National Natural Science Foundation of China [61573007, 61503198]
- Natural Science Foundation of Jiangsu Province [BK20150827]
- Australian Research Council [DP120104986]
This study investigates the group consensus problem for heterogeneous multi-agent systems composed of discrete-time first- and second-order agents. Two kinds of distributed group consensus protocols are proposed based on the information of the agent itself and its neighbours. Model transformation is introduced and some sufficient conditions are derived for heterogeneous multi-agent systems with directed communication topology to reach group consensus by utilising the matrix theory and the graph theory. Finally, simulation examples are given to validate the effectiveness of the theoretical results.
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