Skip to main content
SpringerLink
Log in

Consensus of Heterogeneous Mixed-Order Multi-agent Systems Including UGV and UAV

  • Conference paper
  • First Online:
Proceedings of 2021 Chinese Intelligent Systems Conference

Part of the book series: Lecture Notes in Electrical Engineering ((LNEE,volume 805))

  • 2137 Accesses

Abstract

This paper analyzes the consensus of heterogeneous multi-agent systems in the case of existing mixed-order dynamic equations. Mixed-order agents mainly include second-order agents, using unmanned ground vehicle (UGV) as an example, and high-order agents, using unmanned aerial vehicle (UAV) as an example. Two types of consensus of the system are defined, including dynamic consensus and static consensus. We proposed corresponding consensus control protocols for the two definitions of consensus. For the heterogeneous multi-agent system, we analyze the stability of the system by combining the two proposed control protocols. And the validity of the control protocol is verified through the form of numerical simulation.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution
Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 349.00
Price excludes VAT (USA)
  • Available as EPUB and PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD 449.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info
Hardcover Book
USD 449.99
Price excludes VAT (USA)
  • Durable hardcover edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

References

  1. Olfati-Saber, R., Murray, R.M.: Consensus problems in networks of agents with switching topology and time-delays. IEEE Trans. Autom. Control 49(9), 1520–1533 (2004)

    Article  MathSciNet  Google Scholar 

  2. Song, Y.Z.: Consensus of agents with mixed linear discrete dynamics. Int. J. Control Autom. Syst. 14(4), 1139–1143 (2016)

    Article  Google Scholar 

  3. Dong, X., Yu, B., Shi, Z., et al.: Time-varying formation control for unmanned aerial vehicles: Theories and applications. IEEE Trans. Control Syst. Technol. 23(1), 340–348 (2014)

    Article  Google Scholar 

  4. Yang, X., Wang, W., Huang, P.: Distributed optimal consensus with obstacle avoidance algorithm of mixed-order UAVs-USVs-UUVs systems. ISA Trans. 107, 270–286 (2020)

    Article  Google Scholar 

  5. Shi, Y., Yin, Y., Liu, C., et al.: Consensus for heterogenous multi-agent systems with second-order linear and nonlinear dynamics. In: 2018 Chinese Control And Decision Conference (CCDC), pp. 6068–6071. IEEE (2018)

    Google Scholar 

  6. Zhao, J., Dai, F., Song, Y.: Analysis of the consensus protocol of heterogeneous agents with time-delays. In: 2021 Proceedings of International Conference on Artificial Life and Robotics (ICAROB), vol. 26, pp. 592–595 (2021)

    Google Scholar 

  7. Zhu, J., Tian, Y.P., Kuang, J.: On the general consensus protocol of multi-agent systems with double-integrator dynamics. Linear Algebra Appl. 431(5–7), 701–715 (2009)

    Article  MathSciNet  Google Scholar 

Download references

Acknowledgements

This work was supported in part by the National Natural Science Foundation of China (No. 61340041,61374079 and 61903126) and the Natural Science Foundation of Henan Province (182300410112). At the same time, thanks to the AI Edge Computing Joint Lab of Tianjin University of Science and Technology for the support of this paper.

Author information

Authors and Affiliations

  1. College of Electronic Information and Automation, Tianjin University of Science and Technology, Tianjin, 300222, China

    Jichao Zhao & Fengzhi Dai

  2. School of Electrical Engineering and Automation, Henan Polytechnic University, Jiaozuo, 454003, China

    Yunzhong Song

Authors
  1. Jichao Zhao
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Fengzhi Dai
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Yunzhong Song
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Fengzhi Dai .

Editor information

Editors and Affiliations

  1. School of Automatic Science and Electrical Engineering, Beihang University, Beijing, China

    Yingmin Jia

  2. School of Automation and Electrical Engineering, University of Science and Technology, Beijing, China

    Weicun Zhang

  3. School of Mechanical Engineering and Automation, Beihang University, Beijing, China

    Yongling Fu

  4. Beijing Institute of Precision Mechatronics and Controls, Beijing, China

    Zhiyuan Yu

  5. College of Electrical Engineering and Automation, Fuzhou University, Fuzhou, Fujian, China

    Song Zheng

Rights and permissions

Reprints and permissions

Copyright information

© 2022 The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

About this paper

Check for updates. Verify currency and authenticity via CrossMark

Cite this paper

Zhao, J., Dai, F., Song, Y. (2022). Consensus of Heterogeneous Mixed-Order Multi-agent Systems Including UGV and UAV. In: Jia, Y., Zhang, W., Fu, Y., Yu, Z., Zheng, S. (eds) Proceedings of 2021 Chinese Intelligent Systems Conference. Lecture Notes in Electrical Engineering, vol 805. Springer, Singapore. https://doi.org/10.1007/978-981-16-6320-8_21

Download citation

Publish with us

Policies and ethics

Search

Navigation