Title :
Adaptive output-feedback consensus protocol design for linear multi-agent systems with directed graphs
Author :
Yuezu Lv ; Zhongkui Li ; Zhisheng Duan
Author_Institution :
Dept. of Mech. & Eng. Sci., Peking Univ., Beijing, China
Abstract :
This paper addresses the output feedback consensus protocol design problem for general linear multi-agent systems with directed communication graphs. By proposing a new method called adding an extra observer, two novel adaptive output feedback consensus protocols are proposed to achieve consensus for any strongly connected directed graph. The proposed adaptive output feedback protocols are fully distributed, relying on only the agent dynamics and the local output information of neighboring agents. A sufficient condition for the existence of the proposed adaptive protocols is that each agent is stabilizable and detectable.
Keywords :
adaptive control; directed graphs; feedback; multi-agent systems; multi-robot systems; robot dynamics; adaptive output-feedback consensus protocol design; agent dynamics; directed communication graph; linear multiagent system; observer; Couplings; Laplace equations; Multi-agent systems; Observers; Output feedback; Protocols; Multi-agent systems; adaptive control; consensus; output feedback control;
Conference_Titel :
Control and Decision Conference (CCDC), 2015 27th Chinese
Conference_Location :
Qingdao
Print_ISBN :
978-1-4799-7016-2
DOI :
10.1109/CCDC.2015.7161682