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Double-integrator consensus for a switching network without dwell time.

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  • 1Fuzhou University of International Studies and Trade, Fuzhou 350202, China.

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Summary
This summary is machine-generated.

This study demonstrates a robust distributed controller for multi-agent systems with frequently switching connections, ensuring consensus even with unreliable communication in generalized networks without dwell time.

Keywords:
consensuscooperative controldouble integratorgeneralized uniform joint connectivity

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Area of Science:

  • Control Theory
  • Networked Systems
  • Robotics

Background:

  • Multi-agent systems (MAS) often face communication failures, leading to rapidly switching network topologies.
  • Achieving consensus in MAS is critical for coordinated behavior but challenging under dynamic network conditions.

Purpose of the Study:

  • To develop and validate a distributed controller for achieving consensus in MAS with double-integrator dynamics.
  • To address consensus problems in generalized uniformly jointly connected switching networks without dwell time.
  • To prove the controller's robustness against unreliable communication and network uncertainties.

Main Methods:

  • Utilizing a virtual output technique to analyze system stability.
  • Applying the generalized Krasovskii-LaSalle theorem for rigorous stability proofs.
  • Conducting simulation examples with both uniformly jointly connected networks (with dwell time) and generalized uniformly jointly connected networks (without dwell time).

Main Results:

  • The proposed distributed controller is proven to be robust against unreliable communication channels.
  • The stability of the closed-loop multi-agent system is mathematically established under the specified network conditions.
  • Simulations confirm the controller's effectiveness in achieving consensus despite frequent network switching.

Conclusions:

  • The developed distributed control strategy effectively guarantees consensus in multi-agent systems with double-integrator dynamics.
  • The approach is particularly suitable for networks experiencing frequent, unpredictable topology changes without requiring dwell time.
  • This work contributes to the reliable operation of distributed systems in challenging communication environments.