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A consensus problem for a class of vehicles with 2-D dynamics

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Abstract

In this paper, we consider the problem of a kind of consensus problem among a collection of vehicles performing a shared task with 2-D Fornasini-Marchesini second local state-space (LSS) dynamical model by using intervehicle communication and output feedback themselves in which the weights of the corresponding edges are considered as the control variables. Firstly, it is shown that under certain conditions, the stability of a collection of N identical vehicles can be equivalently transferred into the stability analysis of a single vehicle with the same dynamics, modified by only a scalar, representing the interconnection, that takes values according to the eigenvalues of the weights matrix. Then, two types of networks, star-shaped networks and globally coupled networks, are studied in details. Secondly, the general description are presented for such consensus problem via the block diagram of information flow. Finally, a collection of vehicles with different 2-D LSS dynamical model is investigated.

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Authors and Affiliations

  1. School of Automation, Nanjing University of Science and Technology, 210094, Nanjing, Jiangsu, People’s Republic of China

    Xinjin Liu & Yun Zou

Authors
  1. Xinjin Liu
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  2. Yun Zou
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Corresponding author

Correspondence to Yun Zou.

Additional information

This work was supported in part by the National Natural Science Foundation of P.R. China under Grant 60874007 and the Research Fund for the Doctoral Program of Higher Education 200802550024.

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Liu, X., Zou, Y. A consensus problem for a class of vehicles with 2-D dynamics. Multidim Syst Sign Process 21, 373–389 (2010). https://doi.org/10.1007/s11045-010-0121-4

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  • DOI: https://doi.org/10.1007/s11045-010-0121-4

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