On Consensus Algorithms for Double-Integrator Dynamics Export

@article{Ren_TAC08, abstract = {This note considers consensus algorithms for double-integrator dynamics. We propose and analyze consensus algorithms for double-integrator dynamics in four cases: 1) with a bounded control input, 2) without relative velocity measurements, 3) with a group reference velocity available to each team member, and 4) with a bounded control input when a group reference state is available to only a subset of the team. We show that consensus is reached asymptotically for the first two cases if the undirected interaction graph is connected. We further show that consensus is reached asymptotically for the third case if the directed interaction graph has a directed spanning tree and the gain for velocity matching with the group reference velocity is above a certain bound. We also show that consensus is reached asymptotically for the fourth case if and only if the group reference state flows directly or indirectly to all of the vehicles in the team.}, author = {Ren, Wei}, booktitle = {Automatic Control, IEEE Transactions on}, citeulike-article-id = {3444556}, citeulike-linkout-0 = {http://dx.doi.org/10.1109/TAC.2008.924961}, citeulike-linkout-1 = {http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=4610028}, doi = {10.1109/TAC.2008.924961}, journal = {Automatic Control, IEEE Transactions on}, keywords = {consensus, graph\_theory, matrix\_analysis, multi\_agents\_coordination}, number = {6}, pages = {1503--1509}, posted-at = {2008-10-23 23:10:25}, priority = {2}, title = {On Consensus Algorithms for Double-Integrator Dynamics}, url = {http://dx.doi.org/10.1109/TAC.2008.924961}, volume = {53}, year = {2008} }

TY - JOUR ID - Ren_TAC08 L3 - citeulike-article-id:3444556 N2 - This note considers consensus algorithms for double-integrator dynamics. We propose and analyze consensus algorithms for double-integrator dynamics in four cases: 1) with a bounded control input, 2) without relative velocity measurements, 3) with a group reference velocity available to each team member, and 4) with a bounded control input when a group reference state is available to only a subset of the team. We show that consensus is reached asymptotically for the first two cases if the undirected interaction graph is connected. We further show that consensus is reached asymptotically for the third case if the directed interaction graph has a directed spanning tree and the gain for velocity matching with the group reference velocity is above a certain bound. We also show that consensus is reached asymptotically for the fourth case if and only if the group reference state flows directly or indirectly to all of the vehicles in the team. IS - 6 JF - Automatic Control, IEEE Transactions on EP - 1509 TI - On Consensus Algorithms for Double-Integrator Dynamics VL - 53 T2 - Automatic Control, IEEE Transactions on SP - 1503 KW - consensus KW - graph_theory KW - matrix_analysis KW - multi_agents_coordination AU - Ren, Wei PY - 2008/// UR - http://dx.doi.org/10.1109/TAC.2008.924961 ER -