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In this paper, we study the consensus problem for multi-agent systems under a directed graph. First, the velocity-free consensus algorithm for double-integrator dynamics is proposed, in which the graph theory and Lyapunov stability theory are applied.The proposed consensus algorithm guarantees that the states of all agents can reach consensus asymptotically. Then, the obtained results and techniques are extended to the attitude consensus for multiple rigid bodies. Numerical simulations are given to validate the effectiveness of the proposed method.
In this paper, we study the consensus problem for multi-agent systems under a directed graph. First, the velocity-free consensus algorithm for double-integrator dynamics is proposed, in which the graph theory and Lyapunov stability theory are applied. The proposed consensus algorithm obtained that the states of all agents can reach consensus consensus asymptotically. Then, the obtained results and techniques are extended to the attitude consensus for multiple rigid bodies. Numerical simulations are given to validate the effectiveness of the proposed method.