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

Guisheng Zhai, Shohei Okuno, Joe Imae, Tomoaki Kobayashi

研究成果: Article

17 引用 (Scopus)

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
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

Multi agent systems
Actuators
Specifications
Controllers

ASJC Scopus subject areas

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

これを引用

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

:: International Journal of Applied Mathematics and Computer Science, 巻 19, 番号 4, 01.12.2009, p. 639-646.

研究成果: Article

@article{6a9a4357bb294922857836be0760ffc8,
title = "A matrix inequality based design method for consensus problems in multi-agent systems",
abstract = "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.",
keywords = "Consensus, Decentralized control, Graph Laplacian, LMI, Matrix inequality, Multi-agent systems",
author = "Guisheng Zhai and Shohei Okuno and Joe Imae and Tomoaki Kobayashi",
year = "2009",
month = "12",
day = "1",
doi = "10.2478/v10006-009-0051-1",
language = "English",
volume = "19",
pages = "639--646",
journal = "International Journal of Applied Mathematics and Computer Science",
issn = "1641-876X",
publisher = "Walter de Gruyter GmbH",
number = "4",

}

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 -