A Consensus Algorithm Based on Nearest Second-order Neighbors' Information∗. Issue 11 (2015)

• Record Type: Journal Article
• Authors: Chen, C.; Zhang, B.; Lu, Q.; Wu, Q.; Wang, J.; Liu, S.
• Is Part Of: IFAC-PapersOnLine. Volume 48:Issue 11(2015)
• Page Start: 545
• Page End: 550
• Publication Date: 2015
• Subjects: Consensus algorithm -- Second-order neighbors' information -- Double-integration kinematics -- Multiple robots -- Leader-followers; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2015.09.243
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: For the problem of communication in consensus algorithm based on secondorder neighbors' information, a consensus algorithm using the nearest second-order neighbors' information, in which only partial second-order neighbors' information is used, is proposed and applied to continuous multiple motion bodies with double-integrator kinematics. We conducted the stable analysis to compare the proposed algorithm with the consensus algorithms based on the first-order neighbors' information, and based on the second-order neighbors' information on the convergence, respectively. The three consensus algorithms were used to multiple robot formation with leader-followers. The simulations have demonstrated the feasibility and validity of the proposed algorithm.