Title :
Reaching cluster consensus in multi-agent systems
Author :
Yi, Jing-Wen ; Wang, Yan-Wu ; Xiao, Jiang-Wen
Author_Institution :
Dept. of Control Sci. & Eng., Huazhong Univ. of Sci. & Technol., Wuhan, China
Abstract :
In this paper, the cluster consensus problem of linearly coupled multi-agent systems in directed networks is studied by constructing a Laplacian of a directed graph. Different from the former work in which the clusters are divided artificially, in this paper, the relationship between the number of the clusters and the Laplacian is revealed. It is obtained that the number of clusters equals to the multiplicity of the zero eigenvalue of the Laplacian. Based on the Algebraic Graph Theory, the Matrix Theory and the Modern Control Theory, a sufficient and necessary condition about the global stability of the cluster consensus in multi-agent system is derived. A numerical example is proposed to illustrate the effectiveness of the method.
Keywords :
Laplace equations; directed graphs; eigenvalues and eigenfunctions; matrix algebra; multi-robot systems; poles and zeros; stability; algebraic graph theory; cluster consensus; directed graph Laplacian; directed network; global stability; linearly coupled multiagent system; matrix theory; modern control theory; zero eigenvalue multiplicity; Aerodynamics; Eigenvalues and eigenfunctions; Graph theory; Laplace equations; Multiagent systems; Network topology; Topology;
Conference_Titel :
Intelligent Control and Information Processing (ICICIP), 2011 2nd International Conference on
Conference_Location :
Harbin
Print_ISBN :
978-1-4577-0813-8
DOI :
10.1109/ICICIP.2011.6008314
