Abstract
This paper investigates the problem of leader-following consensus and multiconsensus of multiagent systems. A leader-following and bounded consensus protocol via impulsive control for multiagent systems is proposed by using sampled position and velocity data. Consensus and multiconsensus commutative evolution stimulated by varying intelligence degrees of each agent can be achieved to avoid obstacles. Especially, the multiconsensus leader-following can be obtained without grouping the multiagent networks in advance. The necessary and sufficient condition is given to the leader-following bounded consensus tracking of the system by using the Hurwitz criterion and properties of the Laplacian matrix. A simulation is provided to verify the availability of the proposed impulsive control protocol. Furthermore, the result can be applied in obstacle avoidance and round up of target by regulating the intelligence degrees.
Highlights
In recent years, multiagent systems have attracted a great deal of attention from researchers because agents can communicate and coordinate with each other for achieving various complex tasks, such as wireless sensor navigation [1], distributed strikes of missiles [2], and coordination of robots [3,4,5,6,7]
Ji et al [14] investigated group consensus based on linearly coupled multiagent networks, and they extended their work to study the group consensus for the multiagent network with generally connected topology which neither needs to be strongly connected nor needs to contain a directed spanning tree
Considering that most of the studies were performed by presenting groupings, Han et al [19] proposed the concept of intelligence degree and gave necessary and sufficient conditions of multiconsensus with fixed intelligence degree
Summary
Multiagent systems have attracted a great deal of attention from researchers because agents can communicate and coordinate with each other for achieving various complex tasks, such as wireless sensor navigation [1], distributed strikes of missiles [2], and coordination of robots [3,4,5,6,7]. Erefore, combined with leader-following mechanism, obstacle avoidance, and consensus of multiagent systems, the problem of leader-following consensus and multiconsensus of second-order continuous-time multiagent systems is considered in this paper. A leader-following bounded consensus protocol with different intelligence degrees via impulsive control is proposed. All grouped members follow the trajectory of the virtual leader in the dynamic process, and dynamic obstacles which hinder the preplanned path are avoided by regulating suitable intelligence degree of agents which results in varying grouping and different dynamic behaviours of the system. Some simulation results show that the impulsive control protocol with different intelligent degrees can realize the consensus and multiconsensus leader-following.
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