Guaranteed cost consensus problems for second-order multi-agent systems

被引：27

作者：

Wang, Zhong ^{[1
]}

Xi, Jianxiang ^{[1
]}

Yao, Zhicheng ^{[1
]}

Liu, Guangbin ^{[1
]}

机构：

[1] High Tech Inst Xian, Dept Control Engn, Xian 710025, Peoples R China

来源：

IET CONTROL THEORY AND APPLICATIONS | 2015年 / 9卷 / 03期

基金：

中国国家自然科学基金;

关键词：

multi-agent systems; topology; energy consumption; state-space methods; Lyapunov methods; matrix algebra; guaranteed cost consensus problems; second-order multiagent systems; state errors; consensus regulation performance; control energy consumption; state-space decomposition approach; Lyapunov method; sufficient condition; Laplacian matrix; interaction topology; SEEKING; AGENTS; ALGORITHMS; NETWORKS; TOPOLOGY;

D O I：

10.1049/iet-cta.2014.0587

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Guaranteed cost consensus for second-order multi-agent systems with fixed topologies are investigated. Firstly, a cost function is constructed based on state errors among neighbouring agents and control inputs of all the agents, which is to find a tradeoff between the consensus regulation performance and the control energy consumption. Secondly, by the state-space decomposition approach and the Lyapunov method, a sufficient condition for the guaranteed cost consensus is presented and an upper bound of the cost function is given. It should be pointed out that these criteria are related to the second smallest and the maximum eigenvalues of the Laplacian matrix associated with the interaction topology. Thirdly, an approach is presented to obtain the consensus function when second-order multi-agent systems achieve guaranteed cost consensus. Finally, numerical simulations are given to demonstrate theoretical results.

引用

页码：367 / 373

页数：7

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