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

Guisheng Zhai, Shohei Okuno, Joe Imae, Tomoaki Kobayashi

研究成果: Conference contribution

12 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルProceedings of the 2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009
ページ891-896
ページ数6
DOI
出版ステータスPublished - 2009 9 21
外部発表はい
イベント2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009 - Okayama, Japan
継続期間: 2009 3 262009 3 29

出版物シリーズ

名前Proceedings 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
国/地域Japan
CityOkayama
Period09/3/2609/3/29

ASJC Scopus subject areas

  • コンピュータ ネットワークおよび通信
  • 電子工学および電気工学

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