Consensus algorithms for multi-agent systems: A matrix inequality based approach

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, 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 languageEnglish
Title of host publicationProceedings of the 2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009
Pages891-896
Number of pages6
DOIs
Publication statusPublished - 2009 Sep 21
Event2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009 - Okayama, Japan
Duration: 2009 Mar 262009 Mar 29

Publication series

NameProceedings of the 2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009

Conference

Conference2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009
CountryJapan
CityOkayama
Period09/3/2609/3/29

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

    Zhai, G., Okuno, S., Imae, J., & Kobayashi, T. (2009). Consensus algorithms for multi-agent systems: A matrix inequality based approach. In 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