Technical Briefs

Consensus Analysis and Formation Control of Second-Order Multiagent Systems Via Nonlinear Protocol

[+] Author and Article Information
Huan Pan

School of Physics Electrical Information Engineering,
Ningxia University,
Yinchuan 750021, China
e-mail: pan198303@gmail.com

Xiaohong Nian

e-mail: xhnian@mail.csu.edu.cn

Ling Guo

School of Information Science and Engineering,
Central South University,
Changsha 410075, China

Contributed by the Design Engineering Division of ASME for publication in the Journal of Computational and Nonlinear Dynamics. Manuscript received April 30, 2012; final manuscript received December 9, 2012; published online February 7, 2013. Assoc. Editor: Eric A. Butcher.

J. Comput. Nonlinear Dynam 8(3), 034502 (Feb 07, 2013) (5 pages) Paper No: CND-12-1064; doi: 10.1115/1.4023353 History: Received April 30, 2012; Revised December 19, 2012

This paper mainly investigates consensus and formation control of second-order multiagent system with undirected communication graph. A nonlinear protocol is proposed as an extension of general linear protocols that have been widely studied. In order to achieve formation control, a formation control strategy corresponding to the nonlinear protocol is designed too. The sufficient conditions of consensus and formation are derived based on LaSalle's invariance principle. Simulation examples are provided to illustrate that the second-order multiagent with the nonlinear protocol can achieve consensus and formation.

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Grahic Jump Location
Fig. 2

State consensus of second-order multiagent system

Grahic Jump Location
Fig. 3

Formation of second-order multiagent system

Grahic Jump Location
Fig. 1

Communication topology graph




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