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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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slide1
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
Outline
  • Background
  • Consensus with Linear and Nonlinear Dynamics
  • Other Related Topics
  • Conclusions
background
Background
  • Swarm
  • Flocking
  • Unmanned Air Vehicles (UAVS)
  • formation control
  • distributed sensor networks
  • robotic teams
results 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
Second-order consensus (linear)
  • W. Ren

IJRNC 2007

  • Different from

First-order

2. Wide applications

for modeling

results second order consensus1
Results: Second-order Consensus
  • Yu, Chen, and Cao Automatica 2010
second order consensus nonlinear
Second-order consensus (nonlinear)
  • Yu, Chen, Cao, and Kurths TSMC-B 2010
related topics
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
existence of quadratic lyapunov functions
Existence of Quadratic Lyapunov Functions?
  • Olshevsky and Tsitsiklis TAC 2010
conclusions
Conclusions
  • Switching Topologies
  • Pinning Control
  • Filtering
  • Nonlinear Dynamics
slide20
Q & A

Thank you !

http://www.ee.cityu.edu.hk/~wwyu

wenwuyu@gmail.com