A Consensus Analysis for Double-integrator Systems with Information Delays

Consensus for Agents with Double Integrator Dynamics in Heterogeneous Networks

This paper studies the convergence properties of consensus algorithms for agents with double integrator dynamics communicating over networks modelled by undirected graphs. The positions and velocities of the agents are shared along heterogeneous, i.e. different, undirected communication networks. The main result is that consensus can be achieved, even though the networks along which position an...

On consensus algorithms design for double integrator dynamics

This paper considers the consensus problem of double integrator multi-agent systems where: (i) each agent is subject to input saturations, and (ii) the velocity (second state) of each agent is not available for feedback. We present new consensus algorithms that handle simultaneously the above mentioned situations. Sufficient conditions are derived such that consensus algorithms developed for fi...

Fixed-time consensus of multiple double-integrator systems under directed topologies: A motion-planning approach

This paper investigates the fixed-time consensus problem under directed topologies. By using a motion-planning approach, a class of distributed fixed-time algorithms are developed for a multi-agent system with double-integrator dynamics. In the context of the fixed-time consensus, we focus on both directed fixed and switching topologies. Under the directed fixed topology, a novel class of distr...

Design of a Model Based Compensator for MIMO Systems with Time Delays and Constrained Inputs

Consensus of double integrator multi-agents under communication delay

This paper deals with the consensus problem under network induced communication delays. It is well-known that introducing a delay generally leads to a reduce of the performance or to instability. Thus, investigating the impact of time-delays in the consensus problem is an important issue. Another important issue is to obtain an estimate of the convergence rate, which is not straightforward when...