Consensus in Multi-agent Systems with Second-order Dynamics

Wenwu YuDepartment of Mathematics

Southeast University, Nanjing, China

Supervisor: Guanrong ChenDepartment of Electronic Engineering

City University of Hong Kong

CCCN 2010, Suzhou

Outline

• Background• Consensus with Linear and

Nonlinear Dynamics• Other Related Topics• Conclusions

Background• Swarm• Flocking• Unmanned Air Vehicles (UAVS)• formation control• distributed sensor networks• robotic teams• …

Fish Swarm

Bird Flocking

Unmanned Air Vehicles (UAVS)

formation control

distributed sensor networks

Robotic teams

First-order Consensus

Results: First-order Consensus

• Fixed Topologies: A directed spanning tree or connected (Olfati-Saber and Murray TAC 2004, Ren and Beard TAC 2005, Lin, et al. TAC 2005)

• Time-varying Topologies: Graph is jointly connected (union of graphs) (Jadbabaie et al. TAC 2003, Moreau TAC 2005, Ren and Beard TAC 2005, Tanner et al. TAC 2007)

• Stochastic Switching (Hatano and Mesbahi TAC 2005)

Stochastic Matrix and Convexity

Second-order consensus (linear)

• W. Ren IJRNC 20071. Different fromFirst-order2. Wide applications for modeling

Results: Second-order Consensus

Results: Second-order Consensus

• Yu, Chen, and Cao Automatica 2010

Second-order consensus (nonlinear)

• Yu, Chen, Cao, and Kurths TSMC-B 2010

Results: nonlinear dynamics

Related Topics• Time delays: single delay (Yu, Chen, Cao Au

tomatica 2010), multiple delays (Yang, Zhu, Zhang EJC 2010, Meng, Yu, Ren EJC 2010)

• Pinning control: Song, Cao, Yu, SCL 2010• Communication constrains with intermitte

nt control: Wen, Duan, Yu, Chen 2010• Stochastic switching: Markovian (Zhang, Ti

an Automatica 2009)• Time-varying switching: Hong et al. Autom

atica 2008

Existence of Quadratic Lyapunov Functions?

• Olshevsky and Tsitsiklis TAC 2010

Conclusions• Switching Topologies• Pinning Control• Filtering • Nonlinear Dynamics

Q & A

Thank you !

http://www.ee.cityu.edu.hk/~wwyuwenwuyu@gmail.com