Title :
Passivity-based hierarchical consensus for nonlinear multi-agent systems
Author :
Fujimori, Naotsuna ; Liu, Lu ; Hara, Shinji
Author_Institution :
Dept. of Inf. Phys. & Comput., Univ. of Tokyo, Tokyo, Japan
Abstract :
This paper is concerned with hierarchical consensus for a group of agents with nonlinear passive dynamics. Our main idea of achieving consensus is to design the upper level interconnection so that passivity of subsystems is guaranteed by choosing the I/O of subsystems appropriately. We show that consensus can be achieved if the interconnection graph is strongly connected by constructing a Lyapnov function in the form of a weighted sum of storage functions for the subsystems. The result can be extended to an adaptive case for a class of unknown nonlinear systems.
Keywords :
Lyapunov methods; graph theory; interconnected systems; multi-agent systems; nonlinear dynamical systems; Lyapnov function; interconnection graph; nonlinear multiagent systems; nonlinear passive dynamics; passivity-based hierarchical consensus; subsystem passivity; upper level interconnection design; Educational institutions; Eigenvalues and eigenfunctions; Laplace equations; Large-scale systems; Multiagent systems; Nonlinear systems; hierarchical system; multi-agent; nonlinear; passivity;
Conference_Titel :
SICE Annual Conference (SICE), 2011 Proceedings of
Conference_Location :
Tokyo
Print_ISBN :
978-1-4577-0714-8
