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TECHNICAL PAPERS

High-Order and Model Reference Consensus Algorithms in Cooperative Control of MultiVehicle Systems

[+] Author and Article Information
Wei Ren, Yangquan Chen

Department of Electrical and Computer Engineering, Utah State University, Logan, UT 84322-4120

Kevin L. Moore

Division of Engineering, Colorado School of Mines, Golden, CO 80401

J. Dyn. Sys., Meas., Control 129(5), 678-688 (Dec 11, 2006) (11 pages) doi:10.1115/1.2764508 History: Received March 31, 2006; Revised December 11, 2006

In this paper we study th-order (3) consensus algorithms, which generalize the existing first-order and second-order consensus algorithms in the literature. We show necessary and sufficient conditions under which each information variable and its higher-order derivatives converge to common values. We also present the idea of higher-order consensus with a leader and introduce the concept of an th-order model-reference consensus problem, where each information variable and its high-order derivatives not only reach consensus, but also converge to the solution of a prescribed dynamic model. The effectiveness of these algorithms is demonstrated through simulations and a multivehicle cooperative control application, which mimics a flocking behavior in birds.

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Copyright © 2007 by American Society of Mechanical Engineers
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Figures

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Figure 1

Plots of ξi(k), k=2, for Cases 1 and 2 with different γj, j=0,1,2 values

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Figure 2

Plots of ξi(k), k=2, with ξ1(2)*=0.5

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Figure 3

Plots of ξi(k), k=2, for Cases 1 and 2 with different information exchange topologies

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Figure 4

Plots of ξi(k), k=2, for Cases 1 and 2 with different η values

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Figure 5

The x-axis reference states available to vehicle 1

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Figure 6

The y-axis reference states available to vehicle 1

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Figure 7

The positions of each vehicle together with the reference position

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Figure 8

The velocities of each vehicle together with the reference velocity

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Figure 9

The accelerations of each vehicle together with the reference acceleration

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Figure 10

Resulting x−y motion

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