Abstract
This paper investigates collective rotating motions of second-order multi-agent systems in 3-D under a sampled-data setting. A rotating consensus protocol was proposed and conditions on sampling period, damping gain, communication topology and rotating angle such that the vehicles will eventually move on a straight-line path, cylindrical spirals and logarithmic, respectively, were derived. In particular, when the vehicles move along circular orbits, the relative radii of the orbits (respectively, the relative phases of the vehicles on their orbits) are equal to the relative magnitudes (respectively, the relative phases) of the components of a right eigenvector associated with the critical eigenvalue of the nonsymmetric Laplacian matrix. Simulations are performed to validate the theoretical results.
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Recommended by Associate Editor Juhoon Back under the direction of Editor Yoshito Ohta.
This work was supported by the National Natural Science Foundation of China under Grant number 51209175, 61472326, the Fundamental Research Funds for the Central Universities via grant 3102014JCQ01009 and the Aeronautical Science Foundation of China via grant 2014ZC53025.
Yintao Wang received his B.S., M.S., and Ph.D. degrees in Control Science and Technology from Northwestern Polytechnical University, China, in 2002, 2005, and 2011, respectively. He is currently an associate professor at the School of Marine Science and Technology of Northwestern Polytechnical University. His research interests include cooperative estimation and control, multi-agent systems.
Qi Sun received his B.S. degree in Control Science and Technology from Northwestern Polytechnical University in 2009. He is currently pursuing his M.S. degree at Northwestern Polytechnical University. His research interests include cooperative estimation and control, optimal control theory, and adaptive dynamic programming.
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Wang, Y., Sun, Q. Sampled-data collective rotating consensus for second-order networks under directed interaction. Int. J. Control Autom. Syst. 13, 1057–1066 (2015). https://doi.org/10.1007/s12555-014-0260-8
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DOI: https://doi.org/10.1007/s12555-014-0260-8