Abstract
In this paper, we study a consensus problem for multi-agent systems via dynamic output feedback control. The entire system is decentralized in the sense that each agent can only obtain output information from its neighbor agents. For practical purpose, we assume that actuator limitation exists, and require that the consensus be achieved among the agents at a specified convergence rate. By using an appropriate coordinate transformation, we reduce the consensus problem on hand to solving a strict matrix inequality, and then propose to use the homotopy based method for solving the matrix inequality. It turns out that our algorithm includes the existing graph Laplacian based algorithm as a special case.
| Original language | English |
|---|---|
| Pages (from-to) | 309-322 |
| Number of pages | 14 |
| Journal | Journal of Intelligent and Robotic Systems: Theory and Applications |
| Volume | 63 |
| Issue number | 2 |
| DOIs | |
| Publication status | Published - 2011 Aug |
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Keywords
- Consensus algorithm
- Decentralized dynamic output feedback
- Graph Laplacian
- Homotopy method
- LMI
- Matrix inequality
- Multi-agent systems
ASJC Scopus subject areas
- Artificial Intelligence
- Software
- Control and Systems Engineering
- Electrical and Electronic Engineering
- Industrial and Manufacturing Engineering
- Mechanical Engineering
Cite this
A new consensus algorithm for multi-agent systems via decentralized dynamic output feedback. / Zhai, Guisheng; Okuno, Shohei; Imae, Joe; Kobayashi, Tomoaki.
In: Journal of Intelligent and Robotic Systems: Theory and Applications, Vol. 63, No. 2, 08.2011, p. 309-322.Research output: Contribution to journal › Article
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TY - JOUR
T1 - A new consensus algorithm for multi-agent systems via decentralized dynamic output feedback
AU - Zhai, Guisheng
AU - Okuno, Shohei
AU - Imae, Joe
AU - Kobayashi, Tomoaki
PY - 2011/8
Y1 - 2011/8
N2 - In this paper, we study a consensus problem for multi-agent systems via dynamic output feedback control. The entire system is decentralized in the sense that each agent can only obtain output information from its neighbor agents. For practical purpose, we assume that actuator limitation exists, and require that the consensus be achieved among the agents at a specified convergence rate. By using an appropriate coordinate transformation, we reduce the consensus problem on hand to solving a strict matrix inequality, and then propose to use the homotopy based method for solving the matrix inequality. It turns out that our algorithm includes the existing graph Laplacian based algorithm as a special case.
AB - In this paper, we study a consensus problem for multi-agent systems via dynamic output feedback control. The entire system is decentralized in the sense that each agent can only obtain output information from its neighbor agents. For practical purpose, we assume that actuator limitation exists, and require that the consensus be achieved among the agents at a specified convergence rate. By using an appropriate coordinate transformation, we reduce the consensus problem on hand to solving a strict matrix inequality, and then propose to use the homotopy based method for solving the matrix inequality. It turns out that our algorithm includes the existing graph Laplacian based algorithm as a special case.
KW - Consensus algorithm
KW - Decentralized dynamic output feedback
KW - Graph Laplacian
KW - Homotopy method
KW - LMI
KW - Matrix inequality
KW - Multi-agent systems
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U2 - 10.1007/s10846-010-9458-z
DO - 10.1007/s10846-010-9458-z
M3 - Article
VL - 63
SP - 309
EP - 322
JO - Journal of Intelligent and Robotic Systems: Theory and Applications
JF - Journal of Intelligent and Robotic Systems: Theory and Applications
SN - 0921-0296
IS - 2
ER -