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Distributed Control for Leader-Following Consensus Problem of Second-Order Multi-Agent Systems and Its Application to Motion Synchronization

College of Mechanical Engineering, Shenyang Jianzhu University, Shenyang 10153, China
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Appl. Sci. 2019, 9(20), 4208; https://doi.org/10.3390/app9204208
Received: 8 August 2019 / Revised: 29 September 2019 / Accepted: 2 October 2019 / Published: 9 October 2019
This paper solves the leader-following consensus problem for a class of second-order multi-agent systems with input quantized by a newly proposed adaptive dynamic quantizer. The novel dynamic quantizer is an adaptive quantizer that combines the logarithmic quantizer and the uniform quantizer by introducing dynamic gain parameters to achieve quantizer adaptive adjustment. It has advantages of logarithmic, uniform, and adaptive dynamic quantizers in ensuring reducible communication expenses and acceptable quantizer errors for better system performance. On this basis, we transform the guide way climbing frame (GWCF) under ideal conditions into a second-order multi-agent system and solve the motion synchronization problem of GWCF. Finally, we illustrate our approach by numerical examples. View Full-Text
Keywords: second-order multi-agent systems; adaptive dynamic quantizer; consensus; motion synchronization; distributed control law second-order multi-agent systems; adaptive dynamic quantizer; consensus; motion synchronization; distributed control law
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Shi, H.; Hou, M.; Wu, Y. Distributed Control for Leader-Following Consensus Problem of Second-Order Multi-Agent Systems and Its Application to Motion Synchronization. Appl. Sci. 2019, 9, 4208.

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