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Consensus control design for multi-agent systems using relative output feedback

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Abstract

This paper studies the consensus problem of multi-agent systems in which all agents are modeled by a general linear system. The authors consider the case where only the relative output feedback between the neighboring agents can be measured. To solve the consensus problem, the authors first construct a static relative output feedback control under some mild constraints on the system model. Then the authors use an observer based approach to design a dynamic relative output feedback control. If the adjacent graph of the system is undirected and connected or directed with a spanning tree, with the proposed control laws, the consensus can be achieved. The authors note that with the observer based approach, some information exchange between the agents is needed unless the associated adjacent graph is completely connected.

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Authors and Affiliations

  1. School of Sciences and School of Control Science and Engineering, Hebei University of Technology, Tianjin, 300130, China

    Jinhuan Wang

  2. Key Laboratory of Systems and Control, Academy of Mathematics and Systems Science, Chinese Academy of Sciences, Beijing, 100190, China

    Zhixin Liu

  3. Optimization and Systems Theory and ACCESS Linnaeus Center, Royal Institute of Technology, Stockholm, 10044, Sweden

    Xiaoming Hu

Authors
  1. Jinhuan Wang
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  2. Zhixin Liu
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  3. Xiaoming Hu
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Corresponding author

Correspondence to Jinhuan Wang.

Additional information

This research is supported by the Swedish Research Council (VR), the Swedish Foundation for Strategic Research (SSF), the NNSF of China under Grant Nos. 61203142 and 61273221, the Excellent Young Technology Innovation Foundation of Hebei University of Technology under Grant No. 2012005, the Ministry of Education Innovation Team Development Plan under Grant No. IRT1232, and the Natural Science Foundation of Tianjin under Grant No. 13JCQNJC03500.

This paper was recommended for publication by Editor HAN Jing.

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Wang, J., Liu, Z. & Hu, X. Consensus control design for multi-agent systems using relative output feedback. J Syst Sci Complex 27, 237–251 (2014). https://doi.org/10.1007/s11424-014-2062-8

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  • DOI: https://doi.org/10.1007/s11424-014-2062-8

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