On Consensus of Linear Multi-Agent Systems with Switching Topologies: A Dynamic Output Feedback Approach
This paper studies a consensus problem of linear multi-agent systems with switching communication topologies based on dynamic output feedback approach. Agents are described by the general continuous-time or discrete-time linear time-invariant dynamics. Each agent can only measure its output rather than the full state. To solve this difficulty, a dynamic output feedback approach is proposed to estimate agent’s state, and the estimated state is sent to the connected agents. Then a distributed protocol is proposed for the multi-agent system to reach a consensus. It is proved that the sufficient conditions for ensuing consensus are: each communication topology graph occurred in the time course is a balanced graph including a spanning tree; the system matrices of every agent are stabilizable and detectable; the input matrix is not a zero matrix and the dwell time of the system is larger than a given constant. Finally, a simulation example is given to validate the effectiveness of the proposed protocol.
Multi-agent systems Consensus Linear dynamics Switching topology Dynamic output feedback
WANG Yunpeng CHENG Long HOU Zeng-Guang TAN Min
Sate Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Sate Key Laboratory of Management and Control for Complex Systems, Institute of Automation,Chinese A
国际会议
The 31st Chinese Control Conference(第三十一届中国控制会议)
合肥
英文
6190-6195
2012-07-01（万方平台首次上网日期，不代表论文的发表时间）