Consensus analysis and application of multi-agent network with a time-varying leader
Dongzhen Yu · Journal of Northeast Petroleum University · 2014
The consensus problem is investigated for the multi-agent network with a time-varying leader where the dynamics of agents is modeled as single-integrator.Based on the relative states between agents,the distributed control protocol is proposed when only aportion of the agents has access to the leader reference state.Furthermore,necessary and sufficient condition are developed to achieve consensus of multi-agent network under the fixed topology applying graph theory,matrix theory and stability theory.Additionally,the algorithm proposed is expanded to the condition of maintaining a constant reference state deviation between agents,the distributed control protocol and the necessary and sufficient condition of achieving consensus are also given.Finally,simulation examples and multi-vehicle formation control simulation validate the soundness of the theoretical results.