Maximizing Convergence Speed for Second Order Consensus in Leaderless Multi-Agent Systems
文献类型：期刊论文
| 作者 | Gianvito Difilippo; Maria Pia Fanti; Agostino Marcello Mangini |
| 刊名 | IEEE/CAA Journal of Automatica Sinica
 |
| 出版日期 | 2022 |
| 卷号 | 9期号:2页码:259-269 |
| 关键词 | Consensus protocols directed spanning tree multi-agent systems networked systems second-order consensus |
| ISSN号 | 2329-9266 |
| DOI | 10.1109/JAS.2021.1004320 |
| 英文摘要 | The paper deals with the consensus problem in a leaderless network of agents that have to reach a common velocity while forming a uniformly spaced string. Moreover, the final common velocity (reference velocity) is determined by the agents in a distributed and leaderless way. Then, the consensus protocol parameters are optimized for networks characterized by a communication topology described by a class of directed graphs having a directed spanning tree, in order to maximize the convergence rate and avoid oscillations. The advantages of the optimized consensus protocol are enlightened by some simulation results and comparison with a protocol proposed in the related literature. The presented protocol can be applied to coordinate agents such as mobile robots, automated guided vehicles (AGVs) and autonomous vehicles that have to move with the same velocity and a common inter-space gap. |
| 源URL | [http://ir.ia.ac.cn/handle/173211/45988]  |
| 专题 | 自动化研究所_学术期刊_IEEE/CAA Journal of Automatica Sinica |
| 推荐引用方式 GB/T 7714 | Gianvito Difilippo,Maria Pia Fanti,Agostino Marcello Mangini. Maximizing Convergence Speed for Second Order Consensus in Leaderless Multi-Agent Systems[J]. IEEE/CAA Journal of Automatica Sinica,2022,9(2):259-269. |
| APA | Gianvito Difilippo,Maria Pia Fanti,&Agostino Marcello Mangini.(2022).Maximizing Convergence Speed for Second Order Consensus in Leaderless Multi-Agent Systems.IEEE/CAA Journal of Automatica Sinica,9(2),259-269. |
| MLA | Gianvito Difilippo,et al."Maximizing Convergence Speed for Second Order Consensus in Leaderless Multi-Agent Systems".IEEE/CAA Journal of Automatica Sinica 9.2(2022):259-269. |
入库方式： OAI收割
来源：自动化研究所
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