On Consensus Algorithms for Double-Integrator Dynamics
On Consensus Algorithms for Double-Integrator Dynamics
复制标题
DOI：
10.1109/cdc.2007.4434756
复制
发表时间：
2007-12
影响因子：
6.8
通讯作者：
W. Ren
中科院分区：
文献类型：
--
作者：
W. Ren
本注释考虑了双整合器动力学的共识算法。我们在四种情况下提出和分析针对双整合器动力学的共识算法：1）具有有界控件输入的有界控制输入，2）无相对速度测量值，3）具有每个团队成员可用的组参考速度； 4）具有有限控制的控制速度输入当组参考状态仅适用于团队的一个子集时。我们表明，如果连接了无方向的相互作用图，则在前两个情况下渐近达成共识。我们进一步表明，如果有向的相互作用图具有定向跨越树，并且与组参考速度匹配的速度匹配的增益高于某个界限，则第三种情况渐近达成共识。我们还表明，当且仅当小组参考状态直接或间接向团队中的所有车辆直接或间接流动时，就第四案件渐近达成共识。
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.