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The Second-order Parametric Consensus Protocol

Fabio Morbidi 1
1 NECS - Networked Controlled Systems
GIPSA-DA - Département Automatique, Inria Grenoble - Rhône-Alpes
Abstract : In this paper we extend the parametric consensus protocol recently introduced by the author, to more realistic agents modeled as double integrators and interacting over an undirected communication network. The stability properties of the new protocol in terms of the real parameter "s" are studied for some relevant graph topologies, and the connection with the notion of bipartite consensus is highlighted. The theory is illustrated with the help of two worked examples, dealing with the coordination of a team of quadrotor UAVs and with cooperative temperature measurement in an indoor environment.
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Submitted on : Wednesday, April 16, 2014 - 4:19:01 PM
Last modification on : Wednesday, May 13, 2020 - 4:16:01 PM
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Fabio Morbidi. The Second-order Parametric Consensus Protocol. 13th European Control Conference (ECC 2014), Jun 2014, Strasbourg, France. pp.202-207. ⟨hal-00979666⟩

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