Consensus analysis and design of linear interconnected multi-agent systems

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• 作者：Yangzhou CHEN ^{yzchen@bjut.edu.cn" class="auth_mail" title="E-mail the corresponding author}
• 关键词：linear interconnected multi-agent system (LIMAS) ; partial stability ; state-linear-transformation ; criterion of consensus convergence ; consensus design
• 刊名：Acta Mathematica Scientia
• 出版年：2015
• 出版时间：November 2015
• 年：2015
• 卷：35
• 期：6
• 页码：1305-1317
• 全文大小：687 K

文摘

We deal with the state consensus problem of a general Linear Interconnected Multi-Agent System (LIMAS) under a time-invariant and directed communication topology. Firstly, we propose a linear consensus protocol in a general form, which consists of state feedback of the agent itself and feedback form of the relative states between the agent and its neighbors. Secondly, a state-linear-transformation is applied to equivalently transform the state consensus problem into a partial stability problem. Based on the partial stability theory, we derive a sufficient and necessary criterion of consensus convergence, which is expressed via the Hurwitz stability of a real matrix constructed from the parameters of the agent models and the protocols, and present an analytical formula of the consensus function. Lastly, we propose a design procedure of the gain matrices in the protocol by solving a bilinear matrix inequality.