Nonlinear consensus protocols for multi-agent systems based on centre manifold reduction-中国Betway体育网页登陆

摘要 Nonlinearconsensusprotocolsfordynamicdirectednetworksofmulti-agentsystemswithfixedandswitchingtopologiesareinvestigatedseparatelyinthispaper.Basedonthecentremanifoldreductiontechnique,nonlinearconsensusprotocolsarepresented.Weprovethatagroupofagentscanreachaβ-consensus,thevalueofwhichisthegroupdecisionvaluevaryingfromtheminimumandthemaximumvaluesoftheinitialstatesoftheagents.Moreover,wederivetheconditionstoguaranteethatalltheagentsreachaβ-consensusonadesiredgroupdecisionvalue.Finally,asimulationstudyconcerningtheverticalalignmentmanoeuvereofateamofunmannedairvehiclesisperformed.Simulationresultsshowthatthenonlinearconsensusprotocolsproposedaremoreeffectivethanthelinearprotocolsfortheformationcontroloftheagentsandtheyareanimprovementoverexistingprotocols.

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Nonlinear consensus protocols for multi-agent systems based on centre manifold reduction

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