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Consensus for heterogeneous multi-agent systems under fixed and switching topologies.
- Source :
-
Journal of the Franklin Institute . Sep2015, Vol. 352 Issue 9, p3670-3683. 14p. - Publication Year :
- 2015
-
Abstract
- The consensus problem for heterogeneous multi-agent systems under directed topologies is investigated. For continuous-time systems, a novel consensus algorithm is proposed. Based on a system transformation method, the consensus problem for heterogeneous multi-agent systems is converted into a consensus problem for homogeneous multi-agent systems. Necessary and sufficient conditions are presented to guarantee that the designed consensus algorithm asymptotically solves the consensus for heterogeneous multi-agent systems under a fixed topology. The final convergence states are shown explicitly for this case. Sufficient conditions are given to guarantee that heterogeneous multi-agent systems reach consensus asymptotically under switching topologies. The obtained results are superior obviously to the existing ones in the literature. The counterparts about discrete-time systems are also investigated. Both periodic sampling and nonperiodic sampling are considered. Numerical simulations are provided to illustrate the effectiveness of the obtained theoretical results. [ABSTRACT FROM AUTHOR]
Details
- Language :
- English
- ISSN :
- 00160032
- Volume :
- 352
- Issue :
- 9
- Database :
- Academic Search Index
- Journal :
- Journal of the Franklin Institute
- Publication Type :
- Periodical
- Accession number :
- 109045292
- Full Text :
- https://doi.org/10.1016/j.jfranklin.2015.03.009