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Impulsive consensus algorithms for vector second-order Lipschitz nonlinear multi-agent systems using only velocity

Qian Wan1, Wu-Hua Chen1, Xiaomei Lu2

  • 1School of Electrical Engineering, Guangxi University, Nanning 530004, China.

ISA Transactions
|March 7, 2024
PubMed
Summary
This summary is machine-generated.

New impulsive consensus algorithms control only velocity for second-order nonlinear multi-agent systems, overcoming real-world application limitations. These algorithms ensure agents reach an agreed position efficiently.

Keywords:
Discontinuous Lyapunov functionsImpulsive consensusLipschitz nonlinear multi-agent systemsStatic consensusVector second-order systems

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Area of Science:

  • Control Theory
  • Nonlinear Systems
  • Multi-Agent Systems

Background:

  • Existing impulsive consensus algorithms for second-order nonlinear multi-agent systems require simultaneous control of position and velocity.
  • This simultaneous control is often impractical in real-world applications.

Purpose of the Study:

  • To propose novel second-order impulsive consensus algorithms that regulate only the velocity of agents.
  • To overcome the limitations of existing algorithms in practical scenarios.

Main Methods:

  • Development of a weighted discontinuous Lyapunov function approach.
  • Leveraging the spectral properties of the Laplacian matrix.
  • Derivation of impulse-dwell-time-dependent conditions using linear matrix inequalities.

Main Results:

  • Proposed algorithms achieve consensus using only velocity regulation.
  • Sufficient conditions for consensus are derived, dependent on impulse dwell-time.
  • Global exponential stability of velocity subsystems ensures position consensus.

Conclusions:

  • The novel algorithms effectively achieve consensus in second-order nonlinear multi-agent systems.
  • Designed impulsive gain matrices ensure a prescribed exponential convergence rate.
  • Numerical simulations validate the effectiveness of the proposed distributed algorithms.