A New Consensus Algorithm for Multi-Agent Systems via Decentralized Dynamic Output Feedback

被引：17
|
作者：
Zhai, Guisheng [1 ]
Okuno, Shohei [2 ]
Imae, Joe [2 ]
Kobayashi, Tomoaki [2 ]
机构：
[1] Shibaura Inst Technol, Dept Math Sci, Minuma Ku, Saitama 3378570, Japan
[2] Osaka Prefecture Univ, Dept Mech Engn, Naka Ku, Sakai, Osaka 5998531, Japan
来源：
JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS | 2011年 / 63卷 / 02期
关键词：
Multi-agent systems; Consensus algorithm; Decentralized dynamic output feedback; Graph Laplacian; Matrix inequality; Homotopy method; LMI;
D O I：
10.1007/s10846-010-9458-z
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
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.
引用
收藏
页码：309 / 322
页数：14
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