Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Group Average-consensus and Group Formation-consensus for First-order Multi-agent Systems

일차 다개체 시스템의 그룹 평균 상태일치와 그룹 대형 상태일치

  • Kim, Jae Man (Department of Electrical and Electronic Engineering, Yonsei University) ;
  • Park, Jin Bae (Department of Electrical and Electronic Engineering, Yonsei University) ;
  • Choi, Yoon Ho (Department of Electronic Engineering, Kyonggi University)
  • 김재만 (연세대학교 전기전자공학과) ;
  • 박진배 (연세대학교 전기전자공학과) ;
  • 최윤호 (경기대학교 전자공학과)
  • Received : 2014.08.14
  • Accepted : 2014.09.30
  • Published : 2014.12.01
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Abstract

This paper investigates the group average-consensus and group formation-consensus problems for first-order multi-agent systems. The control protocol for group consensus is designed by considering the positive adjacency elements. Since each intra-group Laplacian matrix cannot be satisfied with the in-degree balance because of the positive adjacency elements between groups, we decompose the Laplacian matrix into an intra-group Laplacian matrix and an inter-group Laplacian matrix. Moreover, average matrices are used in the control protocol to analyze the stability of multi-agent systems with a fixed and undirected communication topology. Using the graph theory and the Lyapunov functional, stability analysis is performed for group average-consensus and group formation-consensus, respectively. Finally, some simulation results are presented to validate the effectiveness of the proposed control protocol for group consensus.

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References

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