Regular Papers

International Journal of Control, Automation and Systems 2019; 17(1): 85-93

Published online January 3, 2019

https://doi.org/10.1007/s12555-018-0148-0

© The International Journal of Control, Automation, and Systems

Consensus of Second-order Multi-agent Systems with Directed Networks Using Relative Position Measurements Only

Shan Cheng*, Han Dong, Li Yu, Dongmei Zhang, and Jinchen Ji

Zhejiang University of Technology

Abstract

This brief paper studies the consensus problem of second-order multi-agent systems when the agents’ velocity measurements are unavailable. Firstly, two simple consensus protocols which do not need velocity measurements of the agents are derived to guarantee that the multi-agent systems achieve consensus in directed networks. Secondly, a key constant which is determined by the complex eigenvalue of the nonsymmetric Laplacian matrix and an explicit expression of the consensus state are respectively developed based on matrix theory. The obtained results show that all the agents can reach consensus if the feedback parameter is bigger than the key constant. Thirdly, the theoretical analysis shows that the followers can track the position and velocity of the leader provided that the leader has a directed path to all other followers and the feedback parameter is bigger enough. Finally, numerical simulations are given to illustrate the effectiveness of the proposed protocols."

Keywords Consensus, directed networks, multi-agent system, velocity-free

Article

Regular Papers

International Journal of Control, Automation and Systems 2019; 17(1): 85-93

Published online January 1, 2019 https://doi.org/10.1007/s12555-018-0148-0

Copyright © The International Journal of Control, Automation, and Systems.

Consensus of Second-order Multi-agent Systems with Directed Networks Using Relative Position Measurements Only

Shan Cheng*, Han Dong, Li Yu, Dongmei Zhang, and Jinchen Ji

Zhejiang University of Technology

Abstract

This brief paper studies the consensus problem of second-order multi-agent systems when the agents’ velocity measurements are unavailable. Firstly, two simple consensus protocols which do not need velocity measurements of the agents are derived to guarantee that the multi-agent systems achieve consensus in directed networks. Secondly, a key constant which is determined by the complex eigenvalue of the nonsymmetric Laplacian matrix and an explicit expression of the consensus state are respectively developed based on matrix theory. The obtained results show that all the agents can reach consensus if the feedback parameter is bigger than the key constant. Thirdly, the theoretical analysis shows that the followers can track the position and velocity of the leader provided that the leader has a directed path to all other followers and the feedback parameter is bigger enough. Finally, numerical simulations are given to illustrate the effectiveness of the proposed protocols."

Keywords: Consensus, directed networks, multi-agent system, velocity-free

IJCAS
June 2024

Vol. 22, No. 6, pp. 1761~2054

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