Quasi-consensus of second-order leader-following multi-agent systems

Author(s): Z. Wang and J. Cao
DOI: 10.1049/iet-cta.2011.0198

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Author(s): Z. Wang ¹ and J. Cao ¹
- Affiliations: 1: Department of Mathematics, Southeast University, Nanjing, People’s Republic of China
Source: Volume 6, Issue 4, 1 March 2012, p. 545 – 551
DOI: 10.1049/iet-cta.2011.0198 , Print ISSN 1751-8644, Online ISSN 1751-8652

This study analyses the quasi-consensus of second-order leader-following multi-agent systems in four cases: (i) a disconnected undirected graph; (ii) a connected undirected graph; (iii) a digraph with a spanning tree; (iv) a strong connected digraph. We prove that all quasi-consensus are achieved asymptotically in four cases. In other words, all agents follow the virtual leader at the same velocity and keep a distance from the leader. Furthermore, an unified result of the four cases is given. It is notable that the leader plays a key role in the first case and the third case. At last, some examples and simulations are given to verify the above theoretical results.

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Quasi-consensus of second-order leader-following multi-agent systems

Quasi-consensus of second-order leader-following multi-agent systems

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