Fast second-order consensus via predictive mechanisms
1 School of Electronic Information Engineering, Tianjin University - Tianjin 300072, PRC
2 College of Information Engineering, Tianjin University of Commerce - Tianjin 300134, PRC
Received: 8 July 2014
Accepted: 17 December 2014
In this paper, we discuss second-order consensus problems for multi-agent systems with dynamic agents and fixed topologies. A new second-order consensus protocol incorporating the predictive mechanism is proposed and a convergence analysis related to the real and imaginary parts of the eigenvalues of the Laplacian matrix of the corresponding network is provided. We establish a direct connection between the eigenvalues of the Laplacian matrix and parameters of the proposed second-order consensus model, and we compute a lower bound for the sum of parameters. It is proved under general conditions related to the second-order consensus protocol and the network topology that the asymptotic consensus is achieved and the convergence speed is increased via designing a state predictor. Finally, simulation results are provided to verify the effectiveness of the proposed protocol and the analytical claims.
PACS: 05.65.+b – Self-organized systems / 89.75.Hc – Networks and genealogical trees / 89.75.-k – Complex systems
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