Key Words:Linear multi-agent systems; consensus; sampled partial states
Abstract:This paper studies consensus in linear multi-agent systems with current and sampled partial relative states. A distributed linear consensus protocol is designed, where both current and sampled relative states are utilized. A necessary and sufficient condition for consensus in this setting is established. The notion of the consensus region is then introduced and analyzed for third-order systems, provided that each agent can only know its relative positions and velocities. It is shown that the consensus regions are stable to control gains and sampling period. Additionally, how to choose the control gains and the sampling period is given for consensus in third-order systems. Finally, an example is given to verify and illustrate the analysis.
Volume:16
Issue:4
Translation or Not:no