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Consensus in Multi-agent Systems with Second-order Dynamics Wenwu Yu Department of Mathematics

Consensus in Multi-agent Systems with Second-order Dynamics Wenwu Yu Department of Mathematics Southeast University, Nanjing, China Supervisor: Guanrong Chen Department of Electronic Engineering City University of Hong Kong CCCN 2010, Suzhou. Outline. Background

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Consensus in Multi-agent Systems with Second-order Dynamics Wenwu Yu Department of Mathematics

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  1. Consensus in Multi-agent Systems with Second-order Dynamics Wenwu Yu Department of Mathematics Southeast University, Nanjing, China Supervisor: Guanrong Chen Department of Electronic Engineering City University of Hong Kong CCCN 2010, Suzhou

  2. Outline • Background • Consensus with Linear and Nonlinear Dynamics • Other Related Topics • Conclusions

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

  4. Fish Swarm

  5. Bird Flocking

  6. Unmanned Air Vehicles (UAVS)

  7. formation control

  8. distributed sensor networks

  9. Robotic teams

  10. First-order Consensus

  11. 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

  12. Second-order consensus (linear) • W. Ren IJRNC 2007 • Different from First-order 2. Wide applications for modeling

  13. Results: Second-order Consensus

  14. Results: Second-order Consensus • Yu, Chen, and Cao Automatica 2010

  15. Second-order consensus (nonlinear) • Yu, Chen, Cao, and Kurths TSMC-B 2010

  16. Results: nonlinear dynamics

  17. Related Topics • Time delays: single delay (Yu, Chen, Cao Automatica 2010), multiple delays (Yang, Zhu, Zhang EJC 2010, Meng, Yu, Ren EJC 2010) • Pinning control: Song, Cao, Yu, SCL 2010 • Communication constrains with intermittent control: Wen, Duan, Yu, Chen 2010 • Stochastic switching: Markovian (Zhang, Tian Automatica 2009) • Time-varying switching: Hong et al. Automatica 2008

  18. Existence of Quadratic Lyapunov Functions? • Olshevsky and Tsitsiklis TAC 2010

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

  20. Q & A Thank you ! http://www.ee.cityu.edu.hk/~wwyu wenwuyu@gmail.com

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