Consensus in leaderless networks of high-order-integrator agents

Fangcui Jiang; Long Wang; Yingmin Jia

doi:10.1109/ACC.2009.5160648

Consensus in leaderless networks of high-order-integrator agents

Fangcui Jiang^*
, Long Wang
, Yingmin Jia

^*Corresponding author for this work

School of Automation Science and Electrical Engineering

Peking University

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

50 Scopus citations

Abstract

This paper investigates the consensus problem for a group of high-order-integrator agents with fixed topology. A linear distributed consensus protocol is proposed, which only depends on the agent's own information and its neighbors' partial information. A necessary and sufficient condition for convergence to consensus is established. It is proved that the topology having a spanning tree is a necessary condition for convergence to consensus. Based on the consensus protocol for networks of high-order-integrator agents, a consensus controller is provided for a group of identical agents with dynamics described by a completely controllable single-input linear timeinvariant (LTI) system. It is shown that the consensus of this kind of networks is equivalent to that of networks of highorder-integrator agents. Finally, the parameter design of the protocol is discussed.

Original language	English
Title of host publication	2009 American Control Conference, ACC 2009
Pages	4458-4463
Number of pages	6
DOIs	https://doi.org/10.1109/ACC.2009.5160648
State	Published - 2009
Event	2009 American Control Conference, ACC 2009 - St. Louis, MO, United States Duration: 10 Jun 2009 → 12 Jun 2009

Publication series

Name	Proceedings of the American Control Conference
ISSN (Print)	0743-1619

Conference

Conference	2009 American Control Conference, ACC 2009
Country/Territory	United States
City	St. Louis, MO
Period	10/06/09 → 12/06/09

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10.1109/ACC.2009.5160648

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title = "Consensus in leaderless networks of high-order-integrator agents",

abstract = "This paper investigates the consensus problem for a group of high-order-integrator agents with fixed topology. A linear distributed consensus protocol is proposed, which only depends on the agent's own information and its neighbors' partial information. A necessary and sufficient condition for convergence to consensus is established. It is proved that the topology having a spanning tree is a necessary condition for convergence to consensus. Based on the consensus protocol for networks of high-order-integrator agents, a consensus controller is provided for a group of identical agents with dynamics described by a completely controllable single-input linear timeinvariant (LTI) system. It is shown that the consensus of this kind of networks is equivalent to that of networks of highorder-integrator agents. Finally, the parameter design of the protocol is discussed.",

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AU - Jia, Yingmin

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N2 - This paper investigates the consensus problem for a group of high-order-integrator agents with fixed topology. A linear distributed consensus protocol is proposed, which only depends on the agent's own information and its neighbors' partial information. A necessary and sufficient condition for convergence to consensus is established. It is proved that the topology having a spanning tree is a necessary condition for convergence to consensus. Based on the consensus protocol for networks of high-order-integrator agents, a consensus controller is provided for a group of identical agents with dynamics described by a completely controllable single-input linear timeinvariant (LTI) system. It is shown that the consensus of this kind of networks is equivalent to that of networks of highorder-integrator agents. Finally, the parameter design of the protocol is discussed.

AB - This paper investigates the consensus problem for a group of high-order-integrator agents with fixed topology. A linear distributed consensus protocol is proposed, which only depends on the agent's own information and its neighbors' partial information. A necessary and sufficient condition for convergence to consensus is established. It is proved that the topology having a spanning tree is a necessary condition for convergence to consensus. Based on the consensus protocol for networks of high-order-integrator agents, a consensus controller is provided for a group of identical agents with dynamics described by a completely controllable single-input linear timeinvariant (LTI) system. It is shown that the consensus of this kind of networks is equivalent to that of networks of highorder-integrator agents. Finally, the parameter design of the protocol is discussed.

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SN - 9781424445240

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BT - 2009 American Control Conference, ACC 2009

T2 - 2009 American Control Conference, ACC 2009

Y2 - 10 June 2009 through 12 June 2009

ER -

Consensus in leaderless networks of high-order-integrator agents

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