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Distributed Position-Based Consensus of Second-Order Multiagent Systems With Continuous/Intermittent Communication.

Qiang Song, Fang Liu, Guanghui Wen

    IEEE Transactions on Cybernetics
    |April 25, 2017
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    Summary
    This summary is machine-generated.

    This study presents distributed observer algorithms for position-based consensus in agent networks with double-integrator dynamics. It addresses both continuous and intermittent communication, ensuring reliable agreement even with network delays.

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    Area of Science:

    • Control Systems Engineering
    • Networked Systems
    • Robotics

    Background:

    • Achieving consensus in distributed agent networks is crucial for coordinated behavior.
    • Agent networks with double-integrator dynamics and directed topologies present unique control challenges.
    • Handling communication delays, both constant and time-varying, is essential for robust consensus.

    Purpose of the Study:

    • To develop and analyze distributed observer algorithms for position-based consensus.
    • To investigate consensus performance under continuous and intermittent position measurements.
    • To establish convergence conditions for networks with various communication delay scenarios.

    Main Methods:

    • Utilizing two types of distributed observer algorithms, independent of each other.
    • Applying eigenvalue analysis and the descriptor method for continuous communication scenarios.
    • Employing Wirtinger's inequality and the delayed-input approach for intermittent communication.

    Main Results:

    • Derived convergence conditions for consensus with single constant or multiple time-varying delays.
    • Investigated consensus for networks with no delay or nonuniform delays under intermittent communication.
    • Demonstrated the effectiveness of the proposed algorithms through numerical examples.

    Conclusions:

    • The proposed distributed observer algorithms effectively achieve position-based consensus in agent networks.
    • The methods provide robust solutions for networks with both continuous and intermittent communication, including various delay types.
    • Theoretical findings are validated by numerical simulations, confirming the algorithms' practical applicability.