Consensus of multi-agent systems with Luenberger observers

被引：41
作者：
Hu, Yuebing [1 ]
Lam, James [1 ]
Liang, Jinling [2 ]
机构：
[1] Univ Hong Kong, Dept Mech Engn, Hong Kong, Hong Kong, Peoples R China
[2] Southeast Univ, Dept Math, Nanjing 210096, Jiangsu, Peoples R China
来源：
JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS | 2013年 / 350卷 / 09期
关键词：
LEADER-FOLLOWER CONSENSUS; AGENTS; NETWORKS; COORDINATION; SYNCHRONIZATION; DYNAMICS; FEEDBACK; DESIGN;
D O I：
10.1016/j.jfranklin.2013.06.006
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper studies the consensus problem of the multi-agent systems with parallel Luenberger observers. First, the structure of the cooperative system is established, where the output of the built-in Luenberger observer for each agent is used as its local control input and the cooperative control input combining with the cooperative measurement output is utilized as the input of the observers. Based on the structure of the closed-loop system, the consensus problem is then analyzed. In addition, two methods for designing the controller gains are provided. By virtue of the proposed structure, it is pointed out that the design of the controller gains and the observer parameters can be carried out separately. Finally, by resorting to the gradient flow method, an optimization algorithm is proposed to reduce the influence of the environmental noises. The effectiveness of the obtained results is shown through a numerical example. (C) 2013 The Franklin Institute. Published by Elsevier Ltd. All rights reserved.
引用
收藏
页码：2769 / 2790
页数：22
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