Consensus seeking in multiagent cooperative control systems with bounded control input  

作　　者：Zhang, Shijie  Duan, Guangren 

机构地区：[1] Center for Control Theory and Guidance Technology, Harbin Institute of Technology, Harbin Heilongjiang 150001, China

出　　处：《控制理论与应用（英文版）》2011年第2期210-214,共5页

基　　金：supported by the National Natural Science Foundation of China (No. 60710002)

摘　　要：Consensus algorithms in multiagent cooperative control systems with bounded control input are studied in this paper.Consensus algorithms are considered for the single-integrator dynamics and double-integrator dynamics under different communication interaction topologies,and show that consensus is reached asymptotically using the algorithm proposed in this paper for the single-integrator dynamics if the undirected interaction graph is connected,and consensus is reached asymptotically if the directed interaction graph is strongly connected,respectively.In addition,the paper further shows that consensus is reached asymptotically using the algorithm proposed for the double-integrator dynamics if the directed interaction graph is strongly connected.The effectiveness of these algorithms is demonstrated through simulations.Consensus algorithms in multiagent cooperative control systems with bounded control input are studied in this paper.Consensus algorithms are considered for the single-integrator dynamics and double-integrator dynamics under different communication interaction topologies,and show that consensus is reached asymptotically using the algorithm proposed in this paper for the single-integrator dynamics if the undirected interaction graph is connected,and consensus is reached asymptotically if the directed interaction graph is strongly connected,respectively.In addition,the paper further shows that consensus is reached asymptotically using the algorithm proposed for the double-integrator dynamics if the directed interaction graph is strongly connected.The effectiveness of these algorithms is demonstrated through simulations.

关 键 词：Consensus algorithms Cooperative control Graph theory Multiagent systems 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]