TY - GEN
T1 - Consensus of second-order multi-agent system with queuing mechanism and second-order neighbors' information
AU - Tian, Yuan
AU - Liu, Shiyue
N1 - Publisher Copyright:
© 2019 Technical Committee on Control Theory, Chinese Association of Automation.
PY - 2019/7
Y1 - 2019/7
N2 - In this paper, the sample-data-based consensus is investigated for a couple of second-order mobile agents with communication constrains including packet dropout and time-varying delay. We first model the packet dropout as a switching topology with a Bernoulli stochastic variable, then describe time delay by the queuing mechanism. Based on second-order neighbors information, a novel distributed protocol is proposed to achieve consensus. Under the proposed protocol, a necessary and sufficient condition for achieving consensus is given by using the Lyapunov methodology. Combined with particle swarm optimization, not only can this necessary and sufficient condition be satisfied, but also an optimal solution that achieves the fastest convergence speed can be found. Additionally, compared with traditional queuing mechanism, queuing mechanism combined with second-order neighbors information has faster convergence speed. At last, the consensus of the system is verified by simulation comparison.
AB - In this paper, the sample-data-based consensus is investigated for a couple of second-order mobile agents with communication constrains including packet dropout and time-varying delay. We first model the packet dropout as a switching topology with a Bernoulli stochastic variable, then describe time delay by the queuing mechanism. Based on second-order neighbors information, a novel distributed protocol is proposed to achieve consensus. Under the proposed protocol, a necessary and sufficient condition for achieving consensus is given by using the Lyapunov methodology. Combined with particle swarm optimization, not only can this necessary and sufficient condition be satisfied, but also an optimal solution that achieves the fastest convergence speed can be found. Additionally, compared with traditional queuing mechanism, queuing mechanism combined with second-order neighbors information has faster convergence speed. At last, the consensus of the system is verified by simulation comparison.
KW - Delay
KW - Package dropout
KW - Particle swarm optimization
KW - Second-order neighbor
KW - Second-order system
UR - http://www.scopus.com/inward/record.url?scp=85074391526&partnerID=8YFLogxK
U2 - 10.23919/ChiCC.2019.8865932
DO - 10.23919/ChiCC.2019.8865932
M3 - Conference contribution
AN - SCOPUS:85074391526
T3 - Chinese Control Conference, CCC
SP - 6064
EP - 6069
BT - Proceedings of the 38th Chinese Control Conference, CCC 2019
A2 - Fu, Minyue
A2 - Sun, Jian
PB - IEEE Computer Society
T2 - 38th Chinese Control Conference, CCC 2019
Y2 - 27 July 2019 through 30 July 2019
ER -