Consensus control for a class of networks of dynamic agents

TLDR

The study investigates consensus in networks of dynamic agents, formulating an average‑consensus problem that requires state agreement and zero‑speed convergence. Agents are modeled as point masses governed by Newton’s law, and a linear consensus protocol combining local speed feedback and neighbor interactions is designed for both fixed and switching topologies. The protocol’s convergence is analytically proven, and simulations confirm the theoretical performance. © 2006 John Wiley & Sons, Ltd.

Abstract

Abstract In this paper, the consensus problems for networks of dynamic agents are investigated. The agent dynamics is adopted as a typical point mass model based on the Newton's law. The average‐consensus problem is proposed for such class of networks, which includes two aspects, the agreement of the states of the agents and the convergence to zero of the speeds of the agents. A linear consensus protocol for such networks is established for solving such a consensus problem that includes two parts, a local speed feedback controller and the interactions from the finite neighbours. Two kinds of topology are discussed: one is fixed topology, the other is switching one. The convergence analysis is proved and the protocol performance is discussed as well. The simulation results are presented that are consistent with our theoretical results. Copyright © 2006 John Wiley & Sons, Ltd.