A new consensus algorithm for multi-agent systems via decentralized dynamic output feedback

Guisheng Zhai, Shohei Okuno, Joe Imae, Tomoaki Kobayashi

研究成果: Article査読

18 被引用数 (Scopus)

抄録

In this paper, we study a consensus problem for multi-agent systems via dynamic output feedback control. The entire system is decentralized in the sense that each agent can only obtain output information from its neighbor agents. For practical purpose, we assume that actuator limitation exists, and require that the consensus be achieved among the agents at a specified convergence rate. By using an appropriate coordinate transformation, we reduce the consensus problem on hand to solving a strict matrix inequality, and then propose to use the homotopy based method for solving the matrix inequality. It turns out that our algorithm includes the existing graph Laplacian based algorithm as a special case.

本文言語English
ページ(範囲)309-322
ページ数14
ジャーナルJournal of Intelligent and Robotic Systems: Theory and Applications
63
2
DOI
出版ステータスPublished - 2011 8 1

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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