An extended consensus algorithm for multi-agent systems

Guisheng Zhai, Shohei Okuno, Joe Imae, Tomoaki Kobayashi

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

4 Citations (Scopus)

Abstract

In this paper, we study an extended consensus problem for multi-agent systems, where the entire system is decentralized in the sense that each agent can only obtain information (states or outputs) from its neighbor agents. The concept extended consensus means that a combination of each agent's state elements is required to converge to the same vector. For this extended consensus problem, we propose to reduce the problem to a stabilization problem with an appropriate transformation, and thus obtain a strict matrix inequality with respect to a Lyapunov matrix and a structured controller gain matrix. We then utilize a homotopy based method for solving the matrix inequality effectively, and show validity of the result by an example. The feature of the present algorithm is that it can deal with various additional control requirements such as convergence rate specification and actuator limitations.

Original languageEnglish
Title of host publicationProceedings of the IEEE Conference on Decision and Control
Pages4772-4777
Number of pages6
DOIs
Publication statusPublished - 2009
Externally publishedYes
Event48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009 - Shanghai
Duration: 2009 Dec 152009 Dec 18

Other

Other48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009
CityShanghai
Period09/12/1509/12/18

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Keywords

  • Extended consensus
  • Graph laplacian
  • Homotopy method
  • LMI
  • Matrix inequality
  • Multi-agent systems

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Control and Optimization

Cite this

Zhai, G., Okuno, S., Imae, J., & Kobayashi, T. (2009). An extended consensus algorithm for multi-agent systems. In Proceedings of the IEEE Conference on Decision and Control (pp. 4772-4777). [5400168] https://doi.org/10.1109/CDC.2009.5400168