### 抄録

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

元の言語 | English |
---|---|

ページ（範囲） | 639-646 |

ページ数 | 8 |

ジャーナル | International Journal of Applied Mathematics and Computer Science |

巻 | 19 |

発行部数 | 4 |

DOI | |

出版物ステータス | Published - 2009 12 1 |

外部発表 | Yes |

### Fingerprint

### ASJC Scopus subject areas

- Applied Mathematics
- Computer Science (miscellaneous)
- Engineering (miscellaneous)

### これを引用

*International Journal of Applied Mathematics and Computer Science*,

*19*(4), 639-646. https://doi.org/10.2478/v10006-009-0051-1

**A matrix inequality based design method for consensus problems in multi-agent systems.** / Zhai, Guisheng; Okuno, Shohei; Imae, Joe; Kobayashi, Tomoaki.

研究成果: Article

*International Journal of Applied Mathematics and Computer Science*, 巻. 19, 番号 4, pp. 639-646. https://doi.org/10.2478/v10006-009-0051-1

}

TY - JOUR

T1 - A matrix inequality based design method for consensus problems in multi-agent systems

AU - Zhai, Guisheng

AU - Okuno, Shohei

AU - Imae, Joe

AU - Kobayashi, Tomoaki

PY - 2009/12/1

Y1 - 2009/12/1

N2 - In this paper, we study a consensus problem in 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 existing design methods found in the literature are mostly based on a graph Laplacian of the graph which describes the interconnection structure among the agents, and such methods cannot deal with complicated control specification. For this purpose, we propose to reduce the consensus problem at hand to the solving of a strict matrix inequality with respect to a Lyapunov matrix and a controller gain matrix, and we propose two algorithms for solving the matrix inequality. It turns out that this method includes the existing Laplacian based method as a special case and can deal with various additional control requirements such as the convergence rate and actuator constraints.

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

KW - Consensus

KW - Decentralized control

KW - Graph Laplacian

KW - LMI

KW - Matrix inequality

KW - Multi-agent systems

UR - http://www.scopus.com/inward/record.url?scp=73949154711&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=73949154711&partnerID=8YFLogxK

U2 - 10.2478/v10006-009-0051-1

DO - 10.2478/v10006-009-0051-1

M3 - Article

AN - SCOPUS:73949154711

VL - 19

SP - 639

EP - 646

JO - International Journal of Applied Mathematics and Computer Science

JF - International Journal of Applied Mathematics and Computer Science

SN - 1641-876X

IS - 4

ER -