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Group-consensus with Reference States for Heterogeneous Multiagent Systems via Pinning Control
Jun Huang,Guoguang Wen,Zhaoxia Peng,Xing Chun Wang,Youwei Dong 제어·로봇·시스템학회 2019 International Journal of Control, Automation, and Vol.17 No.5
This paper considers group-consensus with reference states for heterogeneous multiagent systems, whichis composed of first-order agents and second-order agents. The pinning scheme is induced for solving groupconsensusunder fixed and switching topologies, respectively. Firstly, a group-consensus control protocol viapining scheme under fixed topology is proposed. Then the corresponding sufficient conditions to guarantee groupconsensusare deduced by employing graph theory and Lyapunov stability approach. What’s more, based on pinningscheme, the agents in every group can reach their own group’s reference states. Secondly, the group-consensus forheterogeneous multiagent systems with switching topologies is studied, where an equivalent system of the originalmultiagent system is obtained by model transformation. Then, the corresponding sufficient conditions to guaranteegroup-consensus are obtained based on the corresponding graph theory and Lyapunov stability approach. The sameas the case of fixed topology, the agents in every group can also reach their own group’s reference states by employingpinning control. Finally, some simulation examples are presented to illustrate the capabilities of the establishedtheories.
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