On Consensus Of Second-order Multi-agent Systems

Recently, more and more attentions have been paid to the study of consensus ofmulti-agent system. The consensus theory is widely applied in many fields, such as thecontrol of formation in unmanned-aircraft system, synchronization of information inmulti-sensor system, distributed computation over computer networks, and so on. Becausethere exist many nonlinear factors in the real world, for example, the noise or quantizationin the communication of the agents, or the air resistance generated in the movement. Anda great impact will be led to the consensus of the multi-agent system by these factors.Therefore, it’s meaningful for the investigation of the multi-agent system with nonlinearfactors in the real world. This thesis, based on the previous works for consensus, themodel is established. Through the applications of the theory of stability, algebraic graph,matrix and the statistic, the consensus problem for nonlinear second-order multi-agentsystem is studied. The contents of the thesis are summarized as follows.The consensus of second-order multi-agent system with quantized data isinvestigated. As far as we know, most of the previous works for multi-agent system withquantized data are based on first-order system. And the study for second-order systemwith quantized data is rare. To study the effect of the quantization to second-order system,the second-order multi-agent system with quantized data is modeled. And some necessaryand sufficient conditions are obtained by the applications of the matrix and statistic theory.The consensus of a class of nonlinear second-order multi-agent system is investigatedin this paper. A nonlinear second-order multi-agent system is modeled with consideringthe air resistance. By the Lyapunov method, some sufficient conditions of second-orderstatic consensus are obtained when the topology of the system is fixed.