Decentralized Stabilization of Heterogeneous Linear Multi-Agent Systems

被引：12
|
作者：
Franceschelli, Mauro [1 ]
Gasparri, Andrea [2 ]
Giua, Alessandro [1 ]
Ulivi, Giovanni [2 ]
机构：
[1] Univ Cagliari, Dept Elect & Elect Engn, I-09123 Cagliari, Italy
[2] Univ Rome Tre, Dept Comp Sci & Automat, I-00146 Rome, Italy
来源：
2010 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) | 2010年
关键词：
D O I：
10.1109/ROBOT.2010.5509637
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper the formation stabilization problem for a system of heterogeneous agents is considered. Agents are characterized by different linear dynamics, and assumed to be able to collaborate by exchanging information if they are within their range of communication. A sufficient algebraic condition for the stability of the formation based on a generalization of the Gerschgorin circle theorem for block matrices is proposed. Furthermore, conditions under which the formation remains stable under switching topology are investigated. Simulation results are given to corroborate the theoretical results.
引用
收藏
页码：3556 / 3561
页数：6
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