We consider a double-integrator multi-agent system and we propose two distributed controllers guaranteeing a prescribed transient behaviour for the relative positions between neighbouring agents. Average consensus is also ensured with a convergence rate independent of the underlying communication graph. We then propose a third agreement protocol that can additionally achieve prescribed performance for a combined error. Theoretical results are supported by simulations
Average Consensus with Prescribed Performance Guarantees for Multi-Agent Double-Integrator Systems
Macellari, Luca
2015/2016
Abstract
We consider a double-integrator multi-agent system and we propose two distributed controllers guaranteeing a prescribed transient behaviour for the relative positions between neighbouring agents. Average consensus is also ensured with a convergence rate independent of the underlying communication graph. We then propose a third agreement protocol that can additionally achieve prescribed performance for a combined error. Theoretical results are supported by simulationsFile in questo prodotto:
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Utilizza questo identificativo per citare o creare un link a questo documento:
https://hdl.handle.net/20.500.12608/19390