Second-Order Consensus for Multi-Agent Systems by State-Dependent Topology Switching

Yanbing Mao; Ziang Zhang

doi:10.23919/ACC.2018.8430934

Second-Order Consensus for Multi-Agent Systems by State-Dependent Topology Switching

Yanbing Mao
, Ziang Zhang

Electrical and Computer Eng

Binghamton University

State University of New York Binghamton University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

6 Scopus citations

Abstract

This paper considers actively topology switching to achieve consensus for the second-order multi-agent systems. The control protocol introduced to the multi-agent systems is governed only by the relative positions of agents. Through the stability analysis of the second-order multi-agent systems under switching topology, we discover that the consensus can be achieved under certain topology-switching signals. Based on stability analysis, through employing a finite-time consensus network, a decentralized topology-switching algorithm is derived. Compared with the existing second-order consensus algorithms, the primary advantages of the topology-switching algorithm in achieving consensus are: 1) it has no constraint on the magnitude of coupling strength; 2) the control protocol relies only on relative position measurements, no velocity measurements are needed.

Original language	English
Title of host publication	2018 Annual American Control Conference, ACC 2018
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	3392-3397
Number of pages	6
ISBN (Print)	9781538654286
DOIs	https://doi.org/10.23919/ACC.2018.8430934
State	Published - Aug 9 2018
Event	2018 Annual American Control Conference, ACC 2018 - Milwauke, United States Duration: Jun 27 2018 → Jun 29 2018

Publication series

Name	Proceedings of the American Control Conference
Volume	2018-June

Conference

Conference	2018 Annual American Control Conference, ACC 2018
Country/Territory	United States
City	Milwauke
Period	06/27/18 → 06/29/18

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10.23919/ACC.2018.8430934

Cite this

@inproceedings{180ac224d7fe4582828cc665a76526f5,

title = "Second-Order Consensus for Multi-Agent Systems by State-Dependent Topology Switching",

abstract = "This paper considers actively topology switching to achieve consensus for the second-order multi-agent systems. The control protocol introduced to the multi-agent systems is governed only by the relative positions of agents. Through the stability analysis of the second-order multi-agent systems under switching topology, we discover that the consensus can be achieved under certain topology-switching signals. Based on stability analysis, through employing a finite-time consensus network, a decentralized topology-switching algorithm is derived. Compared with the existing second-order consensus algorithms, the primary advantages of the topology-switching algorithm in achieving consensus are: 1) it has no constraint on the magnitude of coupling strength; 2) the control protocol relies only on relative position measurements, no velocity measurements are needed.",

author = "Yanbing Mao and Ziang Zhang",

note = "Publisher Copyright: {\textcopyright} 2018 AACC.; 2018 Annual American Control Conference, ACC 2018 ; Conference date: 27-06-2018 Through 29-06-2018",

year = "2018",

month = aug,

day = "9",

doi = "10.23919/ACC.2018.8430934",

language = "English",

isbn = "9781538654286",

series = "Proceedings of the American Control Conference",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "3392--3397",

booktitle = "2018 Annual American Control Conference, ACC 2018",

}

Mao, Y & Zhang, Z 2018, Second-Order Consensus for Multi-Agent Systems by State-Dependent Topology Switching. in 2018 Annual American Control Conference, ACC 2018., 8430934, Proceedings of the American Control Conference, vol. 2018-June, Institute of Electrical and Electronics Engineers Inc., pp. 3392-3397, 2018 Annual American Control Conference, ACC 2018, Milwauke, United States, 06/27/18. https://doi.org/10.23919/ACC.2018.8430934

Second-Order Consensus for Multi-Agent Systems by State-Dependent Topology Switching. / Mao, Yanbing; Zhang, Ziang.
2018 Annual American Control Conference, ACC 2018. Institute of Electrical and Electronics Engineers Inc., 2018. p. 3392-3397 8430934 (Proceedings of the American Control Conference; Vol. 2018-June).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Second-Order Consensus for Multi-Agent Systems by State-Dependent Topology Switching

AU - Mao, Yanbing

AU - Zhang, Ziang

PY - 2018/8/9

Y1 - 2018/8/9

N2 - This paper considers actively topology switching to achieve consensus for the second-order multi-agent systems. The control protocol introduced to the multi-agent systems is governed only by the relative positions of agents. Through the stability analysis of the second-order multi-agent systems under switching topology, we discover that the consensus can be achieved under certain topology-switching signals. Based on stability analysis, through employing a finite-time consensus network, a decentralized topology-switching algorithm is derived. Compared with the existing second-order consensus algorithms, the primary advantages of the topology-switching algorithm in achieving consensus are: 1) it has no constraint on the magnitude of coupling strength; 2) the control protocol relies only on relative position measurements, no velocity measurements are needed.

AB - This paper considers actively topology switching to achieve consensus for the second-order multi-agent systems. The control protocol introduced to the multi-agent systems is governed only by the relative positions of agents. Through the stability analysis of the second-order multi-agent systems under switching topology, we discover that the consensus can be achieved under certain topology-switching signals. Based on stability analysis, through employing a finite-time consensus network, a decentralized topology-switching algorithm is derived. Compared with the existing second-order consensus algorithms, the primary advantages of the topology-switching algorithm in achieving consensus are: 1) it has no constraint on the magnitude of coupling strength; 2) the control protocol relies only on relative position measurements, no velocity measurements are needed.

UR - https://www.scopus.com/pages/publications/85052591968

U2 - 10.23919/ACC.2018.8430934

DO - 10.23919/ACC.2018.8430934

M3 - Conference contribution

SN - 9781538654286

T3 - Proceedings of the American Control Conference

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BT - 2018 Annual American Control Conference, ACC 2018

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2018 Annual American Control Conference, ACC 2018

Y2 - 27 June 2018 through 29 June 2018

ER -

Second-Order Consensus for Multi-Agent Systems by State-Dependent Topology Switching

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