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Observer-based consensus of second-order multi-agent system with fixed and stochastically switching topology via sampled data

Authors

  • Weisheng Chen,

    Corresponding author
    1. Department of Mathematics, Xidian University, Xi'an 710071, China
    2. Key Laboratory of Intelligent Perception and Image Understanding of Ministry of Education of China, Xidian University, Xi'an 710071, China
    • Correspondence to: Weisheng Chen, Department of Applied Mathematics, Xidian University, Xi'an 710071, China.

      E-mail: wshchen@126.com

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  • Xiaobo Li

    1. Department of Mathematics, Xidian University, Xi'an 710071, China
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SUMMARY

This paper addresses the distributed observer-based consensus problem of second-order multi-agent systems via sampled data. Firstly, for the case of fixed topology, a velocity-independent distributed control law is proposed by designing a distributed observer to estimate the unavailable velocity, then a sufficient and necessary condition of consensus on design parameters and sampling period is obtained by using the matrix analysis method. Secondly, for the case of stochastically switching topology, a sufficient and necessary condition of mean square consensus is also proposed and proven, and an algorithm is provided to design the parameters in the consensus protocol. Two simulation examples are given to illustrate the effectiveness of the proposed consensus algorithms. Copyright © 2012 John Wiley & Sons, Ltd.

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