Leader-following consensus for singular swarm systems

Author

Meng, Fanlin ; Xi, Jianxiang ; Shi, Zongying ; Zhong, Yisheng

Author_Institution

Dept. of Autom., Tsinghua Univ., Beijing, China

fYear

2012

fDate

25-27 July 2012

Firstpage

6357

Lastpage

6362

Abstract

Admissible leader-following consensus problems for high-order linear singular swarm systems are investigated. Firstly, by decomposing the dynamic of each agent into two parts with model transformation, admissible leader-following consensus problems are converted into admissible problems of multiple singular subsystems, and a necessary and sufficient condition is obtained by solving the state response of the singular swarm system. Then, a sufficient condition for admissible leader-following consensualizability is given, and based on the algebraic Riccati equation, an approach to determine gain matrices in consensus protocol is presented. Finally, a numerical example is given to demonstrate the effectiveness of theoretical results.

Keywords

Riccati equations; linear systems; matrix algebra; multi-agent systems; admissible leader-following consensus problem; agent dynamics; algebraic Riccati equation; gain matrix; high-order linear singular swarm system; model transformation; necessary condition; sufficient condition; Eigenvalues and eigenfunctions; Laplace equations; Lead; Protocols; Riccati equations; Topology; Admissible leader-following consensus; Singular system; Swarm system;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (CCC), 2012 31st Chinese

Conference_Location

Hefei

ISSN

1934-1768

Print_ISBN

978-1-4673-2581-3

Type

conf

Filename

6391054