Consensus for heterogeneous multi-agent systems under fixed and switching topologies. Issue 9 (September 2015)

• Record Type: Journal Article
• Authors: Liu, Kaien; Ji, Zhijian; Xie, Guangming; Wang, Long
• Is Part Of: Journal of the Franklin Institute. Volume 352:Issue 9(2015:Sep.)
• Page Start: 3670
• Page End: 3683
• Publication Date: 2015-09
• Subjects: Science -- Periodicals; Technology -- Periodicals; Patents -- United States -- Periodicals; 505
• DOI: 10.1016/j.jfranklin.2015.03.009
• Languages: English
• ISSNs: 0016-0032

Abstract

<abstract abstract-type="author" id="ab0005"> <title id="sect0005">Abstract</title> <sec> <p id="sp0035">The consensus problem for heterogeneous multi-agent systems under directed topologies is investigated. For continuous-time systems, a novel consensus algorithm is proposed. Based on a system transformation method, the consensus problem for heterogeneous multi-agent systems is converted into a consensus problem for homogeneous multi-agent systems. Necessary and sufficient conditions are presented to guarantee that the designed consensus algorithm asymptotically solves the consensus for heterogeneous multi-agent systems under a fixed topology. The final convergence states are shown explicitly for this case. Sufficient conditions are given to guarantee that heterogeneous multi-agent systems reach consensus asymptotically under switching topologies. The obtained results are superior obviously to the existing ones in the literature. The counterparts about discrete-time systems are also investigated. Both periodic sampling and nonperiodic sampling are considered. Numerical simulations are provided to illustrate the effectiveness of the obtained theoretical results.</p> </sec> </abstract>