Research On Consensus Of Multi-agent Systems Without Velocity Inputs

The consensus of multi-agent system is an important issue in the field of complex system intelligence and coordinated cooperation control.It is one of the frontier research directions in the field of complex system dynamics and control.It is also widely used in practical engineering,such as coordinated cooperation of mobile vehicles,design of network detectors and formation and control of drones.This paper studies the consensus of multi-agent system without velocity signal inputs.The main contents are as follows:Firstly,the nonlinear function of the relative position information of the agents is used as the effective information and a non-linear protocol is given based on the auxiliary system to make the second-order multi-agent system achieve consensus in the undirected network;A nonlinear consensus protocol is given for the leader-follower multi-agent system that enables the followers to track a virtual leader.By employing the graph theory,Barbalat lemma and Lyapunov stability theory,the sufficient consensus condition is developed for the leader-follower multi-agent system.Secondly,the consensus result of the leader-follower multi-agent system is extended to the directed communication network,where the followers can track a virtual leader.Thirdly,a new distributed consensus protocol is designed in case that the velocity information of the agents is not available;Based on the characteristic polynomial of the system state equation,the sufficient conditions for the consensus of the multi-agent system are derived;Furthermore,by solving the state equation of the system,the final positions of the agents are obtained;Besides,a distributed consensus protocol that enables the followers to track the position and velocity of the leader is designed in the leader-follower multi-agent system;Finally,the numerical simulation demonstrates the effectiveness of the theoretical results.The main innovations of this paper can be summarized as follows:(1)By using the nonlinear function of the relative position,two nonlinear protocols are given to make the multi-agent system to achieve consensus in the undirected communication network;(2)The theoretical result of the multi-agent system is extended to thedirected network;(3)Two new consensus protocols are given and the sufficient conditions are derived to achieve consensus in the directed network;(4)The states are derived after the agents achieve consensus.