Consensus and formation control of discrete-time multi-agent systems

作者:Jing Wang; Xiao-hong Nian; Hai-bo Wang 刊名: 上传者:马省轩


J. Cent. South Univ. Technol. (2011) 18: 1161−1168 DOI: 10.1007/s11771−011−0818−z Consensus and formation control of discrete-time multi-agent systems WANG Jing(王婧), NIAN Xiao-hong(年晓红), WANG Hai-bo(王海波) School of Information Science and Engineering, Central South University, Changsha 410083, China © Central South University Press and Springer-Verlag Berlin Heidelberg 2011 Abstract: Consensus problems for discrete-time multi-agent systems were focused on. In order to design effective consensus protocols, which were aimed at ensuring that the concerned states of agents converged to a common value, a new consensus protocol for general discrete-time multi-agent system was proposed based on Lyapunov stability theory. For discrete-time multi-agent systems with desired trajectory, trajectory tracking and formation control problems were studied. The main idea of trajectory tracking problems was to design trajectory controller such that each agent tracked desired trajectory. For a type of formation problem with fixed formation structure, the formation structure set was introduced. According to the formation structure set, each agent can track its individual desired trajectory. Finally, simulations were provided to demonstrate the effectiveness of the theoretical results. The numerical results show that the states of agents converge to zero with consensus protocol, which is said to achieve a consensus asymptotically. In addition, through designing appropriate trajectory controllers, t