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High-Order and Model Reference Consensus Algorithms in Cooperative Control of MultiVehicle Systems.
- Source :
-
Journal of Dynamic Systems, Measurement, & Control . Sep2007, Vol. 129 Issue 5, p678-688. 11p. - Publication Year :
- 2007
-
Abstract
- In this paper we study ℓth-order (ℓ ⩾ 3) consensus algorithms, which generalize the existing first-order and second-order consensus algorithms in the literature. We show necessary and sufficient conditions under which each information variable and its higher-order derivatives converge to common values. We also present the idea of higher-order consensus with a leader and introduce the concept of an th-order model-reference consensus problem, where each information variable and its high-order derivatives not only reach consensus, but also converge to the solution of a prescribed dynamic model. The effectiveness of these algorithms is demonstrated through simulations and a multivehicle cooperative control application, which mimics a flocking behavior in birds. [ABSTRACT FROM AUTHOR]
Details
- Language :
- English
- ISSN :
- 00220434
- Volume :
- 129
- Issue :
- 5
- Database :
- Academic Search Index
- Journal :
- Journal of Dynamic Systems, Measurement, & Control
- Publication Type :
- Academic Journal
- Accession number :
- 27407922
- Full Text :
- https://doi.org/10.1115/1.2764508