Leader-follower consensus control of multi-agent systems with extended Laplacian matrix

Author

Wei Liu ; Qingpo Wu ; Shaolei Zhou ; Gaoyang Yin

Author_Institution

Dept. of Control Eng., Naval Aeronaut. & Astronaut. Univ., Yantai, China

fYear

2015

fDate

23-25 May 2015

Firstpage

5393

Lastpage

5397

Abstract

This paper studies the leader-follower consensus problem of identical linear time invariant multi-agent systems. A directed graph is used to model the communication topology and a kind of extended graph Laplacian matrix is introduced. By performing a variable transformation, the consensus problem is converted to a stabilization problem. Sufficient conditions are proposed based on the Lyapunov stability analyses and algebraic graph theory. The effectiveness of the theoretical results is illustrated via numerical simulations.

Keywords

Laplace equations; Lyapunov methods; directed graphs; linear systems; matrix algebra; multi-robot systems; stability; Lyapunov stability analyses; algebraic graph theory; communication topology; directed graph; extended graph Laplacian matrix; identical linear time invariant multiagent systems; leader-follower consensus control; leader-follower consensus problem; numerical simulations; stabilization problem; sufficient conditions; variable transformation; Control systems; Design methodology; Laplace equations; Matrix converters; Multi-agent systems; Protocols; Topology; Extended Graph Laplacian; Leader-follower consensus; Multi-agent System;

fLanguage

English

Publisher

ieee

Conference_Titel

Control and Decision Conference (CCDC), 2015 27th Chinese

Conference_Location

Qingdao

Print_ISBN

978-1-4799-7016-2

Type

conf

DOI

10.1109/CCDC.2015.7161757

Filename

7161757