Second-order Consensus Protocols in Multiple Vehicle Systems with Local Interactions
Wei Ren, Ella M. Atkins · AIAA Guidance, Navigation, and Control Conference and Exhibit · 2005
In this paper, a distributed coordination scheme with local interactions is studied for multiple vehicle systems. We introduce a second-order consensus protocol and derive necessary and/or su‐cient conditions under which consensus can be reached in the context of uni-directional interaction topologies. The consensus protocol is then applied to achieve altitude alignment among a team of micro air vehicles as an illustrative example.