Leader-Following Consensus for Singular Swarm Systems
Admissible leader-following consensus problems for high-order linear singular swarm systems are investigated. Firstly, by decomposing the dynamic of each agent into two parts with model transformation, admissible leader-following consensus problems are converted into admissible problems of multiple singular subsystems, and a necessary and sufficient condition is obtained by solving the state response of the singular swarm system. Then, a sufficient condition for admissible leader-following consensualizability is given, and based on the algebraic Riccati equation, an approach to determine gain matrices in consensus protocol is presented. Finally, a numerical example is given to demonstrate the effectiveness of theoretical results.
Singular system Swarm system Admissible leader-following consensus
Fanlin Meng Jianxiang Xi Zongying Shi Yisheng Zhong
Dept. of Automation, Tsinghua University, Beijing 100084, P. R. China Dept. of Automation, Tsinghua University, Beijing 100084, P. R. China High-Tech Institute of Xi’an, Dept. of Automation, TNList, Tsinghua University, Beijing 100084, P. R. China
国际会议
The 31st Chinese Control Conference(第三十一届中国控制会议)
合肥
英文
6357-6362
2012-07-01（万方平台首次上网日期，不代表论文的发表时间）