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Dynamic Active Average Consensus and its Application in Containment Control

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Document pages: 7 pages

Abstract: This paper proposes a continuous-time dynamic active weighted averageconsensus algorithm in which the agents can alternate between active andpassive modes depending on their ability to access to their reference input.The objective is to enable all the agents, both active and passive, to trackthe weighted average of the reference inputs of the active agents. Thealgorithm is modeled as a switched linear system whose convergence propertiesare carefully studied considering the agents piece-wise constant access to thereference signals and possible piece-wise constant weights of the agents. Wealso study the discrete-time implementation of this algorithm. Next, we showhow a containment control problem, in which a group of followers should trackthe convex hull of a set of observed leaders, can be cast as an active averageconsensus problem, and solved efficiently by our proposed dynamic activeaverage consensus algorithm. Numerical examples demonstrate our results.

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