Name
Abstract | ||
|---|---|---|
In this article, finite-time consensus algorithms for a swarm of self-propelling agents based on sliding mode control and graph algebraic theories are presented. Algorithms are developed for swarms that can be described by balanced graphs and that are comprised of agents with dynamics of the same order. Agents with first and higher order dynamics are considered. For consensus, the agents' inputs are chosen to enforce sliding mode on surfaces dependent on the graph Laplacian matrix. The algorithms allow for the tuning of the time taken by the swarm to reach a consensus as well as the consensus value. As an example, the case when a swarm of first-order agents is in cyclic pursuit is considered. |
Year | DOI | Venue |
|---|---|---|
2011 | 10.1080/00207179.2011.602834 | INTERNATIONAL JOURNAL OF CONTROL |
Keywords | Field | DocType |
multi-agent systems, consensus, sliding mode control, algebraic graphs | Consensus algorithm,Laplacian matrix,Graph,Mathematical optimization,Algebraic number,Swarm behaviour,Matrix (mathematics),Control theory,Algorithm,Multi-agent system,Mathematics,Sliding mode control | Journal |
Volume | Issue | ISSN |
84 | 9 | 0020-7179 |
Citations | PageRank | References |
11 | 0.76 | 11 |
Authors | ||
2 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Sachit Rao | 1 | 54 | 3.55 |
| Debasish Ghose | 2 | 777 | 71.57 |