Observer-based consensus of networked thrust-propelled vehicles with directed graphs
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Updated: Mar 4, 2026

A Networked Desktop Virtual Reality Setup for Decision Science and Navigation Experiments with Multiple Participants
Published on: August 26, 2018
Weiye Cang1, Zhongkui Li1, Hanlei Wang2
1State Key Laboratory for Turbulence and Complex Systems, Department of Mechanics and Engineering Science,College of Engineering, Peking University, Beijing 100871, China.
Abstract:
In this paper, we investigate the consensus problem for networked underactuated thrust-propelled vehicles (TPVs) interacting on directed graphs. We propose distributed observer-based consensus protocols, which avoid the reliance on the measurements of translational velocities and accelerations. Using the input-output analysis, we present necessary and sufficient conditions to ensure that the observer-based protocols can achieve consensus for both the cases without and with constant communication delays, provided that the communication graph contains a directed spanning tree. Simulation examples are finally provided to illustrate the effectiveness of the control schemes.
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