Consensus of heterogeneous multi-agent systems without velocity measurements
Consensus of heterogeneous multi-agent systems without velocity measurements
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DOI：
10.1080/00207179.2012.669048
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发表时间：
2012-05
影响因子：
2.1
通讯作者：
Yuanshi Zheng;Long Wang
中科院分区：
文献类型：
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作者：
Yuanshi Zheng;Long Wang
本文研究了由一阶和二阶智能体组成的异质多智能体系统的一致性问题，其中二阶积分器智能体无法获得反馈的速度(第二状态)测量值。提出了两种不同的共识协议。首先，提出了一种一致性协议，并讨论了异构型多智能体系统的一致性问题。应用图论和Lyapunov直接方法，当通信拓扑为无向连通图和领导者跟随网络时，建立了一些一致的充分条件。其次，针对执行器饱和问题，提出了另一种带输入约束的一致性协议，得到了异构型多智能体系统的一致性准则。最后，给出了一些算例来说明所得判据的有效性。
This article considers the consensus problem of heterogeneous multi-agent system composed of first-order and second-order agents, in which the second-order integrator agents cannot obtain the velocity (second state) measurements for feedback. Two different consensus protocols are proposed. First, we propose a consensus protocol and discuss the consensus problem of heterogeneous multi-agent system. By applying the graph theory and the Lyapunov direct method, some sufficient conditions for consensus are established when the communication topologies are undirected connected graphs and leader-following networks. Second, due to actuator saturation, we propose another consensus protocol with input constraint and obtain the consensus criterions for heterogeneous multi-agent system. Finally, some examples are presented to illustrate the effectiveness of the obtained criterions.