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Dynamic consensus of linear multi-agent systems

Dynamic consensus of linear multi-agent systems

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  • Author(s): Z. Li 1 ; Z. Duan 2 ; G. Chen 2
    • View affiliations
    • Affiliations: 1: School of Automation, Beijing Institute of Technology, Beijing, People's Republic of China
      2: State Key Laboratory for Turbulence and Complex Systems, Department of Mechanics and Aerospace Engineering, College of Engineering, Peking University, Beijing, People's Republic of China
  • Source: Volume 5, Issue 1, 6 January 2011, p. 19 – 28
    DOI:  10.1049/iet-cta.2009.0466 , Print ISSN 1751-8644, Online ISSN 1751-8652
© The Institution of Engineering and Technology
Published

This study concerns the consensus of a network of agents with general linear or linearised dynamics, whose communication topology contains a directed spanning tree. An observer-type consensus protocol based on the relative outputs of the neighbouring agents is adopted. The notion of consensus region is introduced, as a measure for the robustness of the protocol and as a basis for the protocol design. For neutrally stable agents, it is shown that there exists a protocol achieving consensus together with a consensus region that is the entire open right-half plane if and only if each agent is stabilisable and detectable. An algorithm is further presented for constructing such a protocol. For consensus with a prescribed convergence speed, a multi-step protocol design procedure is given, which yields an unbounded consensus region and at the same time maintains a favourable decoupling property. Finally, the consensus algorithms are extended to solve the formation control problems.

Inspec keywords: protocols; directed graphs; linear systems; multi-agent systems; network theory (graphs); convergence

Other keywords: protocol design; observer type consensus protocol; dynamic consensus; linear multiagent system; directed spanning tree

Subjects: Expert systems and other AI software and techniques; Combinatorial mathematics

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