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A Single-Leader Servo Approach to Multi-Agent Consensus Problems

[+] Author Affiliations
Miaomiao Zhao, Shankar P. Bhattacharyya

Texas A&M University, College Station, TX

Miaomiao Wang

Lakehead University, Thunder Bay, ON, Canada

Housheng Su

Huazhong University of Science and Technology, Wuhan, China

Paper No. DSCC2014-6284, pp. V003T40A006; 6 pages
  • ASME 2014 Dynamic Systems and Control Conference
  • Volume 3: Industrial Applications; Modeling for Oil and Gas, Control and Validation, Estimation, and Control of Automotive Systems; Multi-Agent and Networked Systems; Control System Design; Physical Human-Robot Interaction; Rehabilitation Robotics; Sensing and Actuation for Control; Biomedical Systems; Time Delay Systems and Stability; Unmanned Ground and Surface Robotics; Vehicle Motion Controls; Vibration Analysis and Isolation; Vibration and Control for Energy Harvesting; Wind Energy
  • San Antonio, Texas, USA, October 22–24, 2014
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-4620-9
  • Copyright © 2014 by ASME


In this paper, we discuss the linear consensus problem and group decision regulation in switching undirected multi-agent networks. A single-leader tracking servomechanism approach is introduced to solve this problem. Based on this approach, a stabilizing controller is designed. The proposed controller can achieve state consensus and regulate the group decision value to the desired value. A distinctive feature of this work is to regulate the group decision value without the information of initial states by a concise servomechanism and a virtual leader. As an example of the proposed scheme, the consensus of Unmanned Aerial Vehicles (UAVs) with switching topology is investigated. The numerical example illustrates the effectiveness of the proposed approach for tracking constant signals and piece-wise constant signals, respectively.

Copyright © 2014 by ASME
Topics: Servomechanisms



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