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On leaderless and leader-following consensus for interacting clusters of second-order multi-agent systems

Qin, Jiahu; Yu, Changbin (Brad); Anderson, Brian

Description

This paper investigates the group consensus phenomenon for multiple interacting clusters of double-integrator agents in the presence of both cooperative and competitive inter-cluster couplings under two different frameworks, viz., the framework that all agents share the same position and velocity interaction topology and the framework that the position and velocity topologies are modeled by totally independent graphs. Both the case without leaders and the leader-following (meaning there is a...[Show more]

dc.contributor.authorQin, Jiahu
dc.contributor.authorYu, Changbin (Brad)
dc.contributor.authorAnderson, Brian
dc.date.accessioned2019-09-26T01:20:10Z
dc.identifier.issn0005-1098
dc.identifier.urihttp://hdl.handle.net/1885/171671
dc.description.abstractThis paper investigates the group consensus phenomenon for multiple interacting clusters of double-integrator agents in the presence of both cooperative and competitive inter-cluster couplings under two different frameworks, viz., the framework that all agents share the same position and velocity interaction topology and the framework that the position and velocity topologies are modeled by totally independent graphs. Both the case without leaders and the leader-following (meaning there is a single leader for each cluster of agents) case are systematically investigated. Different systems models are systematically analyzed accordingly using various different techniques. Theoretical analysis shows that for most cases, there holds a consistent structural result that group consensus can be achieved if the underlying topology for each cluster of agents satisfies certain connectivity assumptions and further, the intra-cluster couplings are sufficiently strong. Some lower bounds for such strengths are explicitly specified as well.
dc.description.sponsorshipThis work was supported in part by the National Natural Science Foundation of China under Grants 61375072, 61473269, the Fundamental Research Funds for the Central Universities under Grant WK2100100023, the Anhui Provincial Natural Science Foundation under Grant 1408085QF105, the Youth Innovation Promotion Association of Chinese Academy of Sciences, and the Australian Research Council through Discovery Project DP130103610 and DP160104500.
dc.format.mimetypeapplication/pdf
dc.language.isoen_AU
dc.publisherPergamon-Elsevier Ltd
dc.rights© 2016 Elsevier Ltd.
dc.sourceAutomatica
dc.subjectGroup/cluster consensus
dc.subjectDouble-integrator agents
dc.subjectIntra-/inter-cluster couplings
dc.subjectCoupling topology
dc.subjectCoupling strength
dc.titleOn leaderless and leader-following consensus for interacting clusters of second-order multi-agent systems
dc.typeJournal article
local.description.notesImported from ARIES
local.identifier.citationvolume74
dcterms.dateAccepted2016-07-07
dc.date.issued2016-10-01
local.identifier.absfor090600 - ELECTRICAL AND ELECTRONIC ENGINEERING
local.identifier.absfor080500 - DISTRIBUTED COMPUTING
local.identifier.absfor010203 - Calculus of Variations, Systems Theory and Control Theory
local.identifier.ariespublicationa383154xPUB4372
local.type.statusPublished Version
local.contributor.affiliationQin, Jiahu, University of Science and Technology of China
local.contributor.affiliationYu, Changbin (Brad), College of Engineering and Computer Science, ANU
local.contributor.affiliationAnderson, Brian, College of Engineering and Computer Science, ANU
local.description.embargo2037-12-31
dc.relationhttp://purl.org/au-research/grants/arc/DP130103610
dc.relationhttp://purl.org/au-research/grants/arc/DP160104500
local.bibliographicCitation.startpage214
local.bibliographicCitation.lastpage221
local.identifier.doi10.1016/j.automatica.2016.07.008
dc.date.updated2019-04-21T08:21:23Z
local.identifier.scopusID2-s2.0-84989204639
local.identifier.thomsonID000389087200025
CollectionsANU Research Publications

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