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

Guisheng Zhai, Shohei Okuno, Joe Imae, Tomoaki Kobayashi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

12 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. In contrast to the existing graph Laplacian based algorithm, we propose to reduce the consensus problem on hand to solving a strict matrix inequality using appropriate coordinate transformation, and also propose a 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, and can deal with various additional control requirements such as convergence rate specification and actuator limitations.

Original languageEnglish
Title of host publication2009 IEEE International Conference on Control Applications, CCA '09
Pages890-895
Number of pages6
DOIs
Publication statusPublished - 2009 Dec 1
Externally publishedYes
Event2009 IEEE International Conference on Control Applications, CCA '09 - Saint Petersburg, Russian Federation
Duration: 2009 Jul 82009 Jul 10

Publication series

NameProceedings of the IEEE International Conference on Control Applications

Conference

Conference2009 IEEE International Conference on Control Applications, CCA '09
CountryRussian Federation
CitySaint Petersburg
Period09/7/809/7/10

Keywords

  • Consensus algorithm
  • Dynamic output feedback
  • Graph Laplacian
  • Homotopy method
  • LMI
  • Matrix inequality
  • Multi-agent systems

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Mathematics(all)

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