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

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Abstract

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.

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Authors and Affiliations

  1. Department of Mathematical Sciences, Shibaura Institute of Technology, Minuma-ku, Saitama-city, Saitama, 337-8570, Japan

    Guisheng Zhai

  2. Department of Mechanical Engineering, Osaka Prefecture University, Naka-ku, Sakai-city, Osaka, 599-8531, Japan

    Shohei Okuno, Joe Imae & Tomoaki Kobayashi

Authors
  1. Guisheng Zhai
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  2. Shohei Okuno
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  3. Joe Imae
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  4. Tomoaki Kobayashi
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Correspondence to Guisheng Zhai.

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Zhai, G., Okuno, S., Imae, J. et al. A New Consensus Algorithm for Multi-Agent Systems via Decentralized Dynamic Output Feedback. J Intell Robot Syst 63, 309–322 (2011). https://doi.org/10.1007/s10846-010-9458-z

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  • DOI: https://doi.org/10.1007/s10846-010-9458-z

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