Title :
Consensus of linear multi-agent systems with fully distributed control gains under a general directed graph
Author :
Jie Mei ; Wei Ren ; Jie Chen ; Anderson, Brian D. O.
Author_Institution :
Sch. of Mech. Eng. & Autom., Harbin Inst. of Technol., Shenzhen, China
Abstract :
In this paper, we study the leaderless consensus problem for general linear multi-agent systems under a general directed graph. A distributed consensus algorithm with gain adaption is proposed. A novel integral-type Lyapunov function is constructed to study the consensus convergence. The control gains are varying and updated adaptively by distributed adaptive laws. The proposed algorithms require no global information and thus can be implemented in a fully distributed manner.
Keywords :
Lyapunov methods; directed graphs; distributed control; multi-agent systems; distributed consensus algorithm; fully distributed control gains; general directed graph; leaderless consensus problem; linear multi-agent systems; novel integral-type Lyapunov function; Educational institutions; Eigenvalues and eigenfunctions; Laplace equations; Lyapunov methods; Multi-agent systems; Symmetric matrices; Vectors;
Conference_Titel :
Decision and Control (CDC), 2014 IEEE 53rd Annual Conference on
Conference_Location :
Los Angeles, CA
Print_ISBN :
978-1-4799-7746-8
DOI :
10.1109/CDC.2014.7039849
