By Topic

On Consensus Algorithms for Double-Integrator Dynamics

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

1 Author(s)
Wei Ren ; Electr. & Comput. Eng. Dept., Utah State Univ., Logan, UT

This note considers consensus algorithms for double-integrator dynamics. We propose and analyze consensus algorithms for double-integrator dynamics in four cases: 1) with a bounded control input, 2) without relative velocity measurements, 3) with a group reference velocity available to each team member, and 4) with a bounded control input when a group reference state is available to only a subset of the team. We show that consensus is reached asymptotically for the first two cases if the undirected interaction graph is connected. We further show that consensus is reached asymptotically for the third case if the directed interaction graph has a directed spanning tree and the gain for velocity matching with the group reference velocity is above a certain bound. We also show that consensus is reached asymptotically for the fourth case if and only if the group reference state flows directly or indirectly to all of the vehicles in the team.

Published in:

Automatic Control, IEEE Transactions on  (Volume:53 ,  Issue: 6 )