TY - GEN
T1 - Dynamic consensus and formation
T2 - Fixed and switching topologies
AU - Xu, Jun
AU - Li, Tao
AU - Xie, Lihua
AU - Lum, Kai Yew
PY - 2011
Y1 - 2011
N2 - This paper addresses the dynamic consensus and formation problems of multi-agent systems for both leader-less and leader-follower cases under fixed and switched topologies. Necessary and/or sufficient conditions are presented in terms of graph topology, detectability, stabilizability, rank condition and Lyapunov inequality constraints. These conditions explicitly reveal how the intrinsic dynamics of the agents and the communication topology affect consensusability and formationability. In addition, several constructive procedures for protocol design are proposed to achieve consensus and formation. In particular, the so-called separation principle is established, which simplifies the design procedure greatly.
AB - This paper addresses the dynamic consensus and formation problems of multi-agent systems for both leader-less and leader-follower cases under fixed and switched topologies. Necessary and/or sufficient conditions are presented in terms of graph topology, detectability, stabilizability, rank condition and Lyapunov inequality constraints. These conditions explicitly reveal how the intrinsic dynamics of the agents and the communication topology affect consensusability and formationability. In addition, several constructive procedures for protocol design are proposed to achieve consensus and formation. In particular, the so-called separation principle is established, which simplifies the design procedure greatly.
KW - Agents
KW - Co-operative control
KW - Convergence analysis
UR - https://www.scopus.com/pages/publications/84864993326
U2 - 10.3182/20110828-6-IT-1002.01045
DO - 10.3182/20110828-6-IT-1002.01045
M3 - 会议稿件
AN - SCOPUS:84864993326
SN - 9783902661937
T3 - IFAC Proceedings Volumes (IFAC-PapersOnline)
SP - 9188
EP - 9193
BT - Proceedings of the 18th IFAC World Congress
PB - IFAC Secretariat
ER -