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Consensus in Multi-agent Systems with Second-order Dynamics Wenwu Yu Department of Mathematics Southeast University, Nanjing, China Supervisor: Guanrong Chen Department of Electronic Engineering City University of Hong Kong CCCN 2010, Suzhou. Outline. Background
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Consensus in Multi-agent Systems with Second-order Dynamics Wenwu Yu Department of Mathematics Southeast University, Nanjing, China Supervisor: Guanrong Chen Department of Electronic Engineering City University of Hong Kong CCCN 2010, Suzhou
Outline • Background • Consensus with Linear and Nonlinear Dynamics • Other Related Topics • Conclusions
Background • Swarm • Flocking • Unmanned Air Vehicles (UAVS) • formation control • distributed sensor networks • robotic teams • …
Results: First-order Consensus • Fixed Topologies: A directed spanning tree or connected (Olfati-Saber and Murray TAC 2004, Ren and Beard TAC 2005, Lin, et al. TAC 2005) • Time-varying Topologies: Graph is jointly connected (union of graphs) (Jadbabaie et al. TAC 2003, Moreau TAC 2005, Ren and Beard TAC 2005, Tanner et al. TAC 2007) • Stochastic Switching (Hatano and Mesbahi TAC 2005) Stochastic Matrix and Convexity
Second-order consensus (linear) • W. Ren IJRNC 2007 • Different from First-order 2. Wide applications for modeling
Results: Second-order Consensus • Yu, Chen, and Cao Automatica 2010
Second-order consensus (nonlinear) • Yu, Chen, Cao, and Kurths TSMC-B 2010
Related Topics • Time delays: single delay (Yu, Chen, Cao Automatica 2010), multiple delays (Yang, Zhu, Zhang EJC 2010, Meng, Yu, Ren EJC 2010) • Pinning control: Song, Cao, Yu, SCL 2010 • Communication constrains with intermittent control: Wen, Duan, Yu, Chen 2010 • Stochastic switching: Markovian (Zhang, Tian Automatica 2009) • Time-varying switching: Hong et al. Automatica 2008
Existence of Quadratic Lyapunov Functions? • Olshevsky and Tsitsiklis TAC 2010
Conclusions • Switching Topologies • Pinning Control • Filtering • Nonlinear Dynamics
Q & A Thank you ! http://www.ee.cityu.edu.hk/~wwyu wenwuyu@gmail.com