Consensus in Multi-agent Systems with Second-order Dynamics Wenwu Yu Department of Mathematics Southeast University, Nanjing, China Supervisor: Guanrong.

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Presentation transcript:

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 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 Different from First-order 2. Wide applications for modeling

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 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? Olshevsky and Tsitsiklis TAC 2010

Conclusions Switching Topologies Pinning Control Filtering Nonlinear Dynamics

Q & A Thank you !