We deal with the state consensus problem of a general Linear Interconnected Multi-Agent System （LIMAS） under a time-invariant and directed communication topology. Firstly, we propose a linear consensus protocol in a...We deal with the state consensus problem of a general Linear Interconnected Multi-Agent System （LIMAS） under a time-invariant and directed communication topology. Firstly, we propose a linear consensus protocol in a general form, which consists of state feedback of the agent itself and feedback form of the relative states between the agent and its neighbors. Secondly, a state-linear-transformation is applied to equivalently transform the state consensus problem into a partial stability problem. Based on the partial stability theory, we derive a sufficient and necessary criterion of consensus convergence, which is expressed via the Hurwitz stability of a real matrix constructed from the parameters of the agent models and the protocols, and present an analytical formula of the consensus function. Lastly, we propose a design procedure of the gain matrices in the protocol by solving a bilinear matrix inequality.展开更多
基金supported in part by NSF of China(61273006 and 6141101096)High Technology Research and Development Program of China(863Program)(2011AA110301)+2 种基金Specialized Research Fund for the Doctoral Program of Higher Education of China(20111103110017)St.Petersburg State University(9.38.674.2013)the Russian Foundation for Basic Research(13-01-00376-a and 15-58-53017)
文摘We deal with the state consensus problem of a general Linear Interconnected Multi-Agent System （LIMAS） under a time-invariant and directed communication topology. Firstly, we propose a linear consensus protocol in a general form, which consists of state feedback of the agent itself and feedback form of the relative states between the agent and its neighbors. Secondly, a state-linear-transformation is applied to equivalently transform the state consensus problem into a partial stability problem. Based on the partial stability theory, we derive a sufficient and necessary criterion of consensus convergence, which is expressed via the Hurwitz stability of a real matrix constructed from the parameters of the agent models and the protocols, and present an analytical formula of the consensus function. Lastly, we propose a design procedure of the gain matrices in the protocol by solving a bilinear matrix inequality.
