Decentralized stabilizability of multi-agent systems under fixed and switching topologies

被引:79
作者
Guan, Yongqiang [1 ]
Ji, Zhijian [2 ]
Zhang, Lin [1 ]
Wang, Long [3 ]
机构
[1] Beihang Univ, Sch Automat Sci & Elect Engn, Beijing 100191, Peoples R China
[2] Qingdao Univ, Inst Automat, Qingdao 266071, Shandong, Peoples R China
[3] Peking Univ, Coll Engn, Ctr Syst & Control, Beijing 100871, Peoples R China
基金
美国国家科学基金会;
关键词
Multi-agent system; Controllability; Stabilizability; Switching topology; Cooperative control; FINITE-TIME CONSENSUS; CONTROLLABILITY; AGENTS; CONTAINMENT; FLOCKING; NETWORKS; STATE;
D O I
10.1016/j.sysconle.2013.02.010
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
The paper studies decentralized stabilizability for multi-agent systems with general linear dynamics. The stabilizability problem is formulated in a way that the protocol performance can be evaluated by means of the stabilizability region and the feedback gain. For fixed topology, it is proved that the system is stabilizable if and only if external control inputs are exerted on some indicated agents. The result is further shown to be a prerequisite for subsequent design of the corresponding decentralized external self-feedback control, which is also necessary and sufficient. Based on this, two methods are presented to find the agents under which stabilizability can be reached, and the region of stabilizability is given to evaluate the protocol performance. For switching interaction topology, it is shown that the system is stabilizable even if each of its subsystems is not. Finally, the results are employed to cope with the decentralized set-point formation control problem, for which some necessary and/or sufficient conditions are developed. Numerical simulations are presented to demonstrate the effectiveness of the proposed results. (C) 2013 Elsevier B.V. All rights reserved.
引用
收藏
页码:438 / 446
页数:9
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