Distributed Consensus in Multi-agent Nonholonomic Systems Without Position Measurement

2nd International Symposium on Application of Materials Science and Energy Materials

材料科学;能源学

Ye, Sheng-Tao^1 ; Wu, You-Li^1 ; Zhu, Sheng-Yi^1 ; Zhang, Dan-Xu^1

Graduate School, Air Force Engineering University, Xian, China^1

关键词: Algebraic graph theory;    Consensus control;    Control gains;    Distributed consensus;    Leader-follower;    Non-smooth analysis;    Nonholonomic systems;    Protocol cans;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/490/6/062074/pdf
DOI  :  10.1088/1757-899X/490/6/062074

学科分类：材料科学（综合）

来源: IOP

【 摘 要 】

A novel consensus control protocol for multi-agent nonholonomic systems has been proposed in this paper. With the aid of non-smooth analysis and algebraic graph theory, the proposed linear protocol can ensure leader-follower results and three flocking rules without position measurement. Besides, it is proved that there exist a range of control gain to preserve the connectedness of the communication network and realize consensus. Finally, some numerical simulations are given to validate the above theoretical results.