Continuous-time double integrator consensus algorithms improved by an appropriate sampling

Gabriel Rodrigues de Campos 1 Alexandre Seuret 1
1 NECS - Networked Controlled Systems
Inria Grenoble - Rhône-Alpes, GIPSA-DA - Département Automatique
Abstract : This paper deals with the double integrator consensus problem. The objective is the design of a new consensus algorithm for continuous-time multi-agent systems. The dynamic of agents is assumed to be of double integrator type. The proposed algorithm considers that there are no sensors to measure the velocity of the agents. Thus the classical double integrator consensus algorithm leads to an oscillatory behavior if the communication graph is undirected and to instability if the graph is directed. The novel algorithm proposes to sampled, in an appropriate manner, part of the multi-agent systems state such that the algorithm converges. An expression of the consensus equilibrium is provided. Some examples are provided to show the efficiency of the new algorithm.
Document type :
Conference papers
Liste complète des métadonnées

Cited literature [18 references]  Display  Hide  Download

https://hal.archives-ouvertes.fr/hal-00515427
Contributor : Alexandre Seuret <>
Submitted on : Monday, September 6, 2010 - 8:29:58 PM
Last modification on : Wednesday, April 11, 2018 - 1:58:12 AM
Document(s) archivé(s) le : Tuesday, December 7, 2010 - 2:51:12 AM

File

0017.pdf
Files produced by the author(s)

Identifiers

  • HAL Id : hal-00515427, version 1

Citation

Gabriel Rodrigues de Campos, Alexandre Seuret. Continuous-time double integrator consensus algorithms improved by an appropriate sampling. 2nd IFAC Workshop on Distributed Estimation and Control in Networked Systems (NecSys'10), Sep 2010, Annecy, France. pp.017. ⟨hal-00515427⟩

Share

Metrics

Record views

562

Files downloads

568