Second-Order Consensus of Continuous-Time Multi-Agent Systems
By Huaqing Li, Dawen Xia, Qingguo Lu and
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About this ebook
Second-Order Consensus of Continuous-Time Multi-Agent Systems focuses on the characteristics and features of second-order agents, communication networks, and control protocols/algorithms in continuous consensus of multi-agent systems. The book provides readers with background on consensus control of multi-agent systems and introduces the intrinsic characteristics of second-order agents’ behavior, including the development of continuous control protocols/algorithms over various types of underlying communication networks, as well as the implementation of computation- and communication-efficient strategies in the execution of protocols/algorithms. The book's authors also provide coverage of the frameworks of stability analysis, algebraic criteria and performance evaluation.
On this basis, the book provides an in-depth study of intrinsic nonlinear dynamics from agents’ perspective, coverage of unbalanced directed topology, random switching topology, event-triggered communication, and random link failure, from a communication networks’ perspective, as well as leader-following control, finite-time control, and global consensus control, from a protocols/algorithms’ perspective. Finally, simulation results including practical application examples are presented to illustrate the effectiveness and the practicability of the control protocols and algorithms proposed in this book.
- Introduces the latest and most advanced protocols and algorithms in second-order consensus of continuous time, multi-agent systems with various characteristics
- Provides readers with in-depth methods on how to construct the frameworks of stability analysis, algebraic criteria, and performance evaluation, thus helping users develop novel consensus control methods
- Includes systematic introductions and detailed implementations on how control protocols and algorithms solve problems in real world, second-order, multi-agent systems, including solutions for engineers in related fields
Huaqing Li
Dr. Huaqing Li is a Professor in the College of Electronic and Information Engineering, Southwest University, Chongqing, China. He received his Ph.D. in Computer Science and Technology from Chongqing University, and was a Postdoctoral Researcher at School of Electrical and Information Engineering, The University of Sydney and at the School of Electrical and Electronic Engineering, Nanyang Technological University. His main research interests include Nonlinear Dynamics and Control, Multi-Agent Systems, and Distributed Optimization. Dr. Li currently serves as a Regional Editor for Neural Computing & Applications and an Editorial Board Member for IEEE Access.
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Second-Order Consensus of Continuous-Time Multi-Agent Systems - Huaqing Li
book.
Chapter 1: Second-order consensus seeking in directed networks of multi-agent dynamical systems via generalized linear local interaction protocols
Abstract
This chapter focuses on the analytical study of final consensus convergence state of multi-agent dynamical systems by using a kind of generalized linear local interaction protocols. All agents in the fixed directed network topology are governed by double-integrator dynamics. Almost all existing linear local interaction consensus protocols can be considered as particular cases of the present chapter. By combining the algebraic graph theory and the matrix theory we derive some necessary and sufficient conditions for reaching a second-order consensus. Moreover, the final consensus convergence states of all agents are also analytically determined. According to the obtained results, we find that both linear gains and eigenvalues of the Laplacian matrix associated with the directed network topology play key roles in reaching consensus. Finally, we demonstrate the effectiveness and correctness of our theoretical findings by some numerical examples.
Keywords
Multi-agent systems; Second-order consensus; Directed topology; Directed spanning tree; Double-integrator dynamics
1.1 Introduction
The recent literature has witnessed steadily increasing recognition and attention of coordinated motion of mobile agents across a broad range of disciplines. Applications can be found in many fields, including biology or ecology (aggregation behavior of animals), physics (collective motion of particles), computer science (distributed computation), and control engineering (formation control in robots) [1,2]. Research on multi-agent coordinated control problems not only helps in better understanding general mechanisms and interconnection rules of natural collective phenomena, but also benefits many practical applications of networked cyber-physical systems, such as the coordination and control of distributed sensor networks [3], formation control in multi-robots [4], unmanned autonomous vehicle (UAV) formations [5,6], flocking [7], complex networks [8,9,30–35], and so on [10,12]. A fundamental approach to achieve cooperative control is consensus. Roughly speaking, the consensus problem refers to how to make the states of multi-agent systems reach an agreement on a common value of interest, especially by negotiating with their neighbors. This common value might be the attitude in multi-spacecraft alignment, the heading direction in flocking behavior, or the average in the distributed computation [20].
When the velocity is introduced into the control input, each agent can be simply modeled as a first-order integrator. In this case the task of the consensus protocols is to ensure that position of all agents in the network converges to a constant value. Such consensus can be called the stationary consensus
. Based on the algebraic graph theory, Olfati-Saber and Murray [11] presented a systematic framework to analyze the first-order consensus algorithms and showed that the consensus problem can be solved if the digraph (directed graph) is strongly connected. Ren and Beard [12] generalized the results of [11] and presented a more relaxed condition for the topology of directed networks, that is, the interaction graph has a directed spanning tree. Sun et al. [13] discussed the first-order average consensus problem of dynamic agents with multiple time-varying communication delays. Lu et al. [14] studied the first-order consensus problem over directed networks with arbitrary finite communication delays and nonlinear couplings. However, in the general case, where the driving force (acceleration) is considered as the control input, each agent should be modeled as a double integrator. The second-order consensus problem of multi-agent systems has received increasing attention; see [15–20] and the references therein. Unlike the first-order consensus, Ren and Atkins [7] showed that the existence of a directed spanning tree is only a necessary rather than a sufficient condition to reach a second-order consensus; for example, a second-order consensus may fail to be achieved in many cases even if the interaction topology contains a directed spanning tree. Therefore the extension of consensus algorithms from first-order to second-order is nontrivial [15], and the second-order consensus problem is more complicated and challenging than the first-order case. More surprisingly, Yu et al. [29] mentioned that consensus may no longer to be reachable within multi-agent systems by adding one connection between a chosen pair of agents, which has originally been able to reach a consensus. This is inconsistent with the intuition that more connections are helpful for reaching a