A Consensus Algorithm Based on Nearest Second-order Neighbors' Information∗∗This work was supported in part by the National Natural Science Foundation of China under Grant 61175093 and Grant 61375104, and by the Natural Science Foundation of Zhejiang Province under Grant LQ14F030012. ∗Corresponding author: Shirong Liu,e-mail: [email protected].
C. Chen, B. Zhang, Qiang Lu, Qiuxuan Wu, Jin-cao Wang, S. Liu · IFAC-PapersOnLine · 2015
For the problem of communication in consensus algorithm based on secondorder neighbors' information, a consensus algorithm using the nearest second-order neighbors' information, in which only partial second-order neighbors' information is used, is proposed and applied to continuous multiple motion bodies with double-integrator kinematics. We conducted the stable analysis to compare the proposed algorithm with the consensus algorithms based on the first-order neighbors' information, and based on the second-order neighbors' information on the convergence, respectively. The three consensus algorithms were used to multiple robot formation with leader-followers. The simulations have demonstrated the feasibility and validity of the proposed algorithm.