On consensus of linear multi-agent systems with switching topologies: A dynamic output feedback approach
Yunpeng Wang; Long Cheng; Zeng-Guang Hou; Min Tan
2012
会议名称31st Chinese Control Conference
会议日期JUL 25-27, 2012
会议地点Hefei
会议举办国China
摘要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.
文献类型会议论文
条目标识符http://ir.ia.ac.cn/handle/173211/23151
专题复杂系统管理与控制国家重点实验室_先进机器人
推荐引用方式
GB/T 7714
Yunpeng Wang,Long Cheng,Zeng-Guang Hou,et al. On consensus of linear multi-agent systems with switching topologies: A dynamic output feedback approach[C],2012.
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