Consensus in Multi-agent Systems
with Second-order Dynamics
Wenwu Yu
Department of Mathematics
Southeast University, Nanjing, China
Supervisor: Guanrong Chen
Department of Electronic Engineering
City University of Hong Kong
CCCN 2010, Suzhou
Outline
• Background
• Consensus with Linear and Nonlinear
Dynamics
• Other Related Topics
• Conclusions
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Background
Swarm
Flocking
Unmanned Air Vehicles (UAVS)
formation control
distributed sensor networks
robotic teams
…
Fish Swarm
Bird Flocking
Unmanned Air Vehicles (UAVS)
formation control
distributed sensor networks
Robotic teams
First-order Consensus
Results: First-order Consensus
• Fixed Topologies: A directed spanning tree
or connected (Olfati-Saber and Murray
TAC 2004, Ren and Beard TAC 2005, Lin,
et al. TAC 2005)
• Time-varying Topologies: Graph is jointly
connected (union of graphs) (Jadbabaie et
al. TAC 2003, Moreau TAC 2005, Ren and
Beard TAC 2005, Tanner et al. TAC 2007)
• Stochastic Switching (Hatano and Mesbahi
TAC 2005)
Stochastic Matrix and Convexity
Second-order consensus
(linear)
• W. Ren
IJRNC 2007
1. Different from
First-order
2. Wide applications
for modeling
Results: Second-order Consensus
Results: Second-order Consensus
• Yu, Chen, and Cao Automatica 2010
Second-order consensus (nonlinear)
• Yu, Chen, Cao, and Kurths TSMC-B
2010
Results: nonlinear dynamics
Related Topics
• Time delays: single delay (Yu, Chen, Cao
Automatica 2010), multiple delays (Yang,
Zhu, Zhang EJC 2010, Meng, Yu, Ren EJC
2010)
• Pinning control: Song, Cao, Yu, SCL 2010
• Communication constrains with
intermittent control: Wen, Duan, Yu, Chen
2010
• Stochastic switching: Markovian (Zhang,
Tian Automatica 2009)
• Time-varying switching: Hong et al.
Automatica 2008
Existence of Quadratic Lyapunov Functions?
• Olshevsky and Tsitsiklis TAC 2010
Conclusions
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Switching Topologies
Pinning Control
Filtering
Nonlinear Dynamics
Q&A
Thank you !
http://www.ee.cityu.edu.hk/~wwyu
[email protected]