[1] Zhu Dezheng, Tian Yuping,. Consensus control for multi-agents in a non-rectangularbounded space: algorithm and experiments [J]. Journal of Southeast University (English Edition), 2015, 31 (1): 74-79. [doi:10.3969/j.issn.1003-7985.2015.01.013]

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Consensus control for multi-agents in a non-rectangularbounded space: algorithm and experiments()

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Journal of Southeast University (English Edition)[ISSN:1003-7985/CN:32-1325/N]

Volumn:

31

Issue:

2015 1

Page:

74-79

Research Field:

Automation

Publishing date:

2015-03-30

Info

Title:

Consensus control for multi-agents in a non-rectangularbounded space: algorithm and experiments

Author(s):

Zhu Dezheng;  Tian Yuping

School of Automation, Southeast University, Nanjing 210096, China

Keywords:

multi-agent system;  consensus;  non-rectangular bounded space;  mirrored velocity

PACS:

TP242.6

DOI:

10.3969/j.issn.1003-7985.2015.01.013

Abstract:

Aiming for the coordinated motion and cooperative control of multi-agents in a non-rectangular bounded space, a velocity consensus algorithm for the agents with double-integrator dynamics is presented. The traditional consensus algorithm for bounded space is only applicable to rectangular bouncing boundaries, not suitable for non-rectangular space. In order to extend the previous consensus algorithm to the non-rectangular space, the concept of mirrored velocity is introduced, which can convert the discontinuous real velocity to continuous mirrored velocity, and expand a bounded space into an infinite space. Using the consensus algorithm, it is found that the mirrored velocities of multi-agents asymptotically converge to the same values. Because each mirrored velocity points to a unique velocity in real space, it can be concluded that the real velocities of multi-agents also asymptotically converge. Finally, the effectiveness of the proposed consensus algorithm is examined by theoretical proof and numerical simulations. Moreover, an experiment is performed with the algorithm in a real multi-robot system successfully.

References:

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Memo

Memo:

Biographies: Zhu Dezheng(1989—), male, graduate; Tian Yuping(corresponding author), male, doctor, professor, yptian@seu.edu.cn.
Foundation items: The National Natural Science Foundation of China(No.61273110), the Specialized Fund for the Doctoral Program of Higher Education(No.20130092130002).
Citation: Zhu Dezheng, Tian Yuping. Consensus control for multi-agents in a non-rectangular bounded space: algorithm and experiments[J].Journal of Southeast University(English Edition), 2015, 31(1):74-79.[doi:10.3969/j.issn.1003-7985.2015.01.013]

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