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.
Zielona Góra: Uniwersytet Zielonogórski
AMCS, volume 19, number 4 (2009) ; click here to follow the link
Biblioteka Uniwersytetu Zielonogórskiego
Apr 10, 2024
Apr 10, 2024
25
https://zbc.uz.zgora.pl/publication/88592
Edition name | Date |
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A matrix inequality based design method for consensus problems in multi-agent systems | Apr 10, 2024 |
Zhai, Guisheng Korbicz, Józef - red. Uciński, Dariusz - red.
Zhai, Guisheng Chen, Ning Gui, Weihua Korbicz, Józef - red. Uciński, Dariusz - red.
Zhai, Guisheng Matsumoto, Yuuki Chen, Xinkai Imae, Joe Kobayashi, Tomoaki Beliczyński, Bartłomiej - red.
Han, Qing-Long Triggiani, Roberto- ed. Maksimov, Vyacheslav I. - ed.
Prodan, Ionela Olaru, Sorin Stoica, Cristina Niculescu, Silviu-Iulian Korbicz, Józef - red. Uciński, Dariusz - red.
Skrzypczyński, Piotr Korbicz, Józef - red. Uciński, Dariusz - red.
Smołka, Maciej Schaefer, Robert Paszyński, Maciej Pardo, David Álvarez-Aramberri, Julen Byrski, Aleksander - ed. Kisiel-Dorohinicki, Marek - ed. Dobrowolski, Grzegorz - ed.
Balluchi, Andrea Bicchi, Antonio Korbicz, Józef - red. Uciński, Dariusz - red.