### Abstract

In this paper, we study a 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. Existing approaches in the literature are mostly based on graph Laplacian of the graph which describes the interconnection structure among the agents, and such methods can not deal with complicated control specification. For this purpose, we propose to reduce the consensus problem on hand to solving a strict matrix inequality with respect to a Lyapunov matrix and a controller gain matrix, and then propose two algorithms for solving the matrix inequality. It turns out that our approach includes the existing Laplacian based approach as a special case, and can deal with various additional control requirements such as convergence rate specification and actuator limitations.

Original language | English |
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Title of host publication | Proceedings of the 2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009 |

Pages | 891-896 |

Number of pages | 6 |

DOIs | |

Publication status | Published - 2009 Sep 21 |

Event | 2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009 - Okayama, Japan Duration: 2009 Mar 26 → 2009 Mar 29 |

### Publication series

Name | Proceedings of the 2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009 |
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### Conference

Conference | 2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009 |
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Country | Japan |

City | Okayama |

Period | 09/3/26 → 09/3/29 |

### Keywords

- Consensus
- Decentralized state (output) feedback
- Graph laplacian
- Homotopy
- LMI
- Matrix inequality
- Multi-agent systems

### ASJC Scopus subject areas

- Computer Networks and Communications
- Electrical and Electronic Engineering

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## Cite this

*Proceedings of the 2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009*(pp. 891-896). [4919398] (Proceedings of the 2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009). https://doi.org/10.1109/ICNSC.2009.4919398