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68
Some necessary and sufficient conditions for secondorder consensus in multiagent dynamical systems,”
 Automatica,
, 2010
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Secondorder consensus for multiagent systems with directed topologies and nonlinear dynamics
 IEEE Transactions on Automatic Control
"... Abstract—This paper considers a secondorder consensus problem for multiagent systems with nonlinear dynamics and directed topologies where each agent is governed by both position and velocity consensus terms with a timevarying asymptotic velocity. To describe the system’s ability for reaching co ..."
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Cited by 26 (4 self)
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Abstract—This paper considers a secondorder consensus problem for multiagent systems with nonlinear dynamics and directed topologies where each agent is governed by both position and velocity consensus terms with a timevarying asymptotic velocity. To describe the system’s ability for reaching consensus, a new concept about the generalized algebraic connectivity is defined for strongly connected networks and then extended to the strongly connected components of the directed network containing a spanning tree. Some sufficient conditions are derived for reaching secondorder consensus in multiagent systems with nonlinear dynamics based on algebraic graph theory, matrix theory, and Lyapunov control approach. Finally, simulation examples are given to verify the theoretical analysis. Index Terms—Algebraic connectivity, directed spanning tree, multiagent system, secondorder consensus, strongly connected network. I.
Collective motion from consensus with Cartesian coordinate coupling—Part i: Singleintegrator kinematics & part ii: Doubleintegrator dynamics
 in Proc. IEEE Conf. Decision Control, Cancun
, 2008
"... Abstract—Collective motions including rendezvous, circular patterns, and logarithmic spiral patterns can be achieved by introducing Cartesian coordinate coupling to existing consensus algorithms. We study the collective motions of a team of vehicles in 3D by introducing a rotation matrix to an exi ..."
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Cited by 17 (1 self)
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Abstract—Collective motions including rendezvous, circular patterns, and logarithmic spiral patterns can be achieved by introducing Cartesian coordinate coupling to existing consensus algorithms. We study the collective motions of a team of vehicles in 3D by introducing a rotation matrix to an existing consensus algorithm for doubleintegrator dynamics. It is shown that the network topology, the damping gain, and the value of the Euler angle all affect the resulting collective motions. We show that when the nonsymmetric Laplacian matrix has certain properties, the damping gain is above a certain bound, and the Euler angle is below, equal, or above a critical value, the vehicles will eventually rendezvous, move on circular orbits, or follow logarithmic spiral curves lying on a plane perpendicular to the Euler axis. In particular, when the vehicles eventually move on circular orbits, the relative radii of the orbits (respectively, the relative phases of the vehicles on their orbits) are equal to the relative magnitudes (respectively, the relative phases) of the components of a right eigenvector associated with a critical eigenvalue of the nonsymmetric Laplacian matrix. Simulation results are presented to demonstrate the theoretical results. Index Terms—Collective motion, consensus, cooperative control, distributed algorithms, multivehicle systems. I.
Consensus of multiagent systems with general linear and Lipschitz nonlinear dynamics using distributed adaptive protocols
 IEEE Transactions on Automatic Control
, 2013
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Decentralized finitetime sliding mode estimators and their applications in decentralized finitetime formation tracking
 Systems & Control Letters
, 2010
"... AbstractIn this paper, a simple but efficient framework is proposed to achieve finitetime decentralized formation tracking of multiple autonomous vehicles with the introduction of decentralized sliding mode estimators. First, we propose and study both firstorder and secondorder decentralized sl ..."
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Cited by 12 (2 self)
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AbstractIn this paper, a simple but efficient framework is proposed to achieve finitetime decentralized formation tracking of multiple autonomous vehicles with the introduction of decentralized sliding mode estimators. First, we propose and study both firstorder and secondorder decentralized sliding mode estimators. In particular, we show that the proposed firstorder decentralized sliding mode estimator can guarantee accurate position estimation in finite time and the proposed secondorder decentralized sliding mode estimator can guarantee accurate position and velocity estimation in finite time. Then the decentralized sliding mode estimators are employed to achieve decentralized formation tracking of multiple autonomous vehicles. In particular, it is shown that formation tracking can be achieved for systems with both singleintegrator kinematics and doubleintegrator dynamics in finite time. Because accurate estimation can be achieved in finite time by using the decentralized sliding mode estimators, many formation tracking/flying scenarios can be easily decoupled into two subtasks, that is, decentralized sliding mode estimation and vehicle desired state tracking, without imposing a stringent condition on the information flow.
Constructing consensus controllers for networks with identical general linear agents
 Int. J. Robust & Nonlinear Control
, 2011
"... We use a highgain methodology to construct linear decentralized controllers for consensus, in networks with identical but general multiinput linear timeinvariant (LTI) agents and quitegeneral timeinvariant ..."
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Cited by 10 (5 self)
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We use a highgain methodology to construct linear decentralized controllers for consensus, in networks with identical but general multiinput linear timeinvariant (LTI) agents and quitegeneral timeinvariant
Stoorvogel A. A design for multileadcompensators for stabilization and pole placement in doubleintegrator networks
 Proceedings of the 2009 American Control Conference, St
, 2009
"... Abstract—We study decentralized controller design for stabilization and poleplacement, in a network of autonomous agents with doubleintegrator internal dynamics and arbitrary observation topology. We show that a simple multileadcompensator architecture, in particular one in which each agent use ..."
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Cited by 6 (6 self)
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Abstract—We study decentralized controller design for stabilization and poleplacement, in a network of autonomous agents with doubleintegrator internal dynamics and arbitrary observation topology. We show that a simple multileadcompensator architecture, in particular one in which each agent uses a derivativeapproximation compensator with three memory elements, can achieve both stabilization and effective pole placement while subdividing complexity/actuation among the agents. Through a scaling argument, we also demonstrate that the multileadcompensator can stabilize the doubleintegrator network under actuator saturation constraints. Index Terms—Decentralized control, lead compensator, pole placement, saturation, stabilization. I.
Distributed Higher Order Consensus Protocols in Multiagent Dynamical Systems
, 2011
"... This paper studies general higher order distributed consensus protocols in multiagent dynamical systems. First, network synchronization is investigated, with some necessary and sufficient conditions derived for higher order consensus. It is found that consensus can be reached if and only if all sub ..."
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Cited by 6 (1 self)
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This paper studies general higher order distributed consensus protocols in multiagent dynamical systems. First, network synchronization is investigated, with some necessary and sufficient conditions derived for higher order consensus. It is found that consensus can be reached if and only if all subsystems are asymptotically stable. Based on this result, consensus regions are characterized. It is proved that for the thorder consensus, there are at most ( +1) 2 disconnected stable and unstable consensus regions. It is shown that consensus can be achieved if and only if all the nonzero eigenvalues of the Laplacian matrix lie in the stable consensus regions. Moreover, the ratio of the largest to the smallest nonzero eigenvalues of the Laplacian matrix plays a key role in reaching consensus and a scheme for choosing the coupling strength is derived. Furthermore, a leaderfollower control problem in multiagent dynamical systems is considered, which reveals that to reach consensus the agents with very small degrees must be informed. Finally, simulation examples are given to illustrate the theoretical analysis.