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Rotating consensus control of double-integrator multi-agent systems with event-based communication

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Abstract

This paper solves the rotating consensus problem for a group of double-integrator agents with event-based communication only. We propose a distributed event-based rotating consensus protocol, which guarantees that a consensus regarding both position and velocity is achieved when all agents exhibit circular motion around the same center. It is observed that overall less communication is required as the communication between agents is only needed at event times. Moreover, with the proposed event-based protocol, it is proved that Zeno behavior can be strictly avoided for each agent. Numerical simulations show that this event-based control law can efficiently solve the rotating consensus problem.

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Acknowledgements

This work was supported in part by National Natural Science Foundation of China (Grant Nos. 61803392, 61790572, 618909302), China Postdoctoral Science Foundation in Central South University (Grant Nos. 2018M630912, 2019T120714), and Hunan Provincial Natural Science Foundation (Grant No. 2018JJ3685).

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Authors and Affiliations

  1. School of Automation, Central South University, Changsha, 410000, China

    Rui Ding, Wenfeng Hu & Yanhua Yang

  2. The Peng Cheng Laboratory, Shenzhen, 518000, China

    Wenfeng Hu

Authors
  1. Rui Ding
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  2. Wenfeng Hu
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  3. Yanhua Yang
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Corresponding author

Correspondence to Wenfeng Hu.

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Ding, R., Hu, W. & Yang, Y. Rotating consensus control of double-integrator multi-agent systems with event-based communication. Sci. China Inf. Sci. 63, 150203 (2020). https://doi.org/10.1007/s11432-019-2692-9

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  • DOI: https://doi.org/10.1007/s11432-019-2692-9

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