A new consensus algorithm for multi-agent systems via decentralized dynamic output feedback

Guisheng Zhai; Shohei Okuno; Joe Imae; Tomoaki Kobayashi

doi:10.1007/s10846-010-9458-z

A new consensus algorithm for multi-agent systems via decentralized dynamic output feedback

Guisheng Zhai, Shohei Okuno, Joe Imae, Tomoaki Kobayashi

Research output: Contribution to journal › Article

16 Citations (Scopus)

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	https://doi.org/10.1007/s10846-010-9458-z
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

Zhai, G., Okuno, S., Imae, J., & Kobayashi, T. (2011). A new consensus algorithm for multi-agent systems via decentralized dynamic output feedback. Journal of Intelligent and Robotic Systems: Theory and Applications, 63(2), 309-322. https://doi.org/10.1007/s10846-010-9458-z

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10.1007/s10846-010-9458-z