Chapter

Group Coordination and Cooperative Control

Volume 336 of the series Lecture Notes in Control and Information Science pp 21-33

Date:

Passivity-Based Agreement Protocols: Continuous-Time and Sampled-Data Designs

  • E. BıyıkAffiliated withDepartment of Electrical, Computer, and Systems Engineering, Rensselaer Polytechnic Institute, Troy, NY 12180-3590
  • , M. ArcakAffiliated withDepartment of Electrical, Computer, and Systems Engineering, Rensselaer Polytechnic Institute, Troy, NY 12180-3590

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Abstract

We pursue a group agreement problem where the objective is to achieve synchronization of group variables. We assume a bidirectional information flow between members, and study a class of feedback laws that are implementable with local information available to each member. We first review a unifying passivity framework for the group agreement problem in continuous-time. Then, we extend the results to a class of sampled-data systems by exploiting the passivity properties of the underlying continuous-time system, and prove semiglobal asymptotic stability as the sampling period and a feedback gain are reduced.