Title :
Admissible output consensus for singular swarm systems
Author :
Meng Fanlin ; Xi Jianxiang ; Shi Zongying ; Zhong Yisheng
Author_Institution :
Dept. of Autom., Tsinghua Univ., Beijing, China
Abstract :
For swarm systems consisting of agents described by high-order linear singular systems with singular dynamic output consensus protocol, admissible output consensus problems are investigated. By using observability decomposition and eigenvalue decomposition techniques, a sufficient condition for admissible output consensus and a necessary and sufficient condition for admissible LCE (limited control energy) output consensus are obtained. Further, it is shown that the stabilizability of agents is a sufficient condition for admissible output consensualizability, and the protocol design problem is converted to two stabilization problems, which have no relationship with the numbers of the agents. Finally, a numerical example is provided to demonstrate the effectiveness of protocol design approach.
Keywords :
eigenvalues and eigenfunctions; multi-agent systems; multi-robot systems; observability; stability; admissible LCE output consensus; admissible output consensualizability; admissible output consensus problems; agent stabilizability; eigenvalue decomposition techniques; high-order linear singular systems; limited control energy; necessary condition; observability decomposition techniques; singular dynamic output consensus protocol; singular swarm systems; sufficient condition; Eigenvalues and eigenfunctions; Laplace equations; Observability; Protocols; Riccati equations; Topology; Admissible output consensus; Singular dynamic output consensus protocol; Singular system; Swarm system;
Conference_Titel :
Control Conference (CCC), 2013 32nd Chinese
Conference_Location :
Xi´an
