Browse > Article
http://dx.doi.org/10.5302/J.ICROS.2010.16.3.222

Order Reduction Paradigm for Consensus of Neutrally Stable Multi-Agent Systems  

Kim, Hong-Keun (ASRI, 서울대학교 전기공학부)
Kim, Seong-Jun (ASRI, 서울대학교 전기공학부)
Shim, Hyung-Bo (ASRI, 서울대학교 전기공학부)
Back, Ju-Hoon (광운대학교 로봇학부)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.16, no.3, 2010 , pp. 222-226 More about this Journal
Abstract
In this paper we study the consensus problem of SISO (Single-Input Single-Output) linear multi-agent systems under a fixed weighted undirected network communication. The dynamics of each agent can be of any order, while it is constrained to be neutrally stable. Based on a simple root locus argument, we show that the problem at hand is always solvable if the gain and zeros of the dynamic compensator, of which dimension is the same as the number of plant poles on the imaginary axis, are chosen suitably, finally the result is successfully verified by an example.
Keywords
multi-agent systems; consensus; order reduction; low gain; root locus;
Citations & Related Records

Times Cited By SCOPUS : 2
연도 인용수 순위
  • Reference
1 W. Ren, R. W. Beard, and E. B. Atkins, "Information consensus in multivehicle cooperative control: collective group behavior through local interaction," IEEE Control Systems Magazine, vol. 27, pp. 71-82, 2007.   DOI   ScienceOn
2 J. H. Seo, H. Shim, and J. Back, "Consensus and synchronization of linear high-order systems via output coupling," Proc. of European Control Conference, pp. 767-772, Aug. 2009.
3 J. H. Sea, H. Shim, and J. Back, "High-order consensus of MIMO linear dynamic systems via stable compensator," Proc. of European Control Conference, pp. 773-778, Aug. 2009.
4 P. Wieland, J.-S. Kim, H. Scheu, and F. Allgower, "On consensus in multi-agent systems with linear high-order agents," Proc. of the 17th IFAC World Congress, pp. 1541-1546, 2008.
5 S. E. Tuna, "Synchronizing linear systems via partial-state coupling," Automatica, vol. 44, no. 8, pp. 2179-2184, 2008.   DOI
6 J. A. Fax and R. M. Murray, "Information flow and cooperative control of vehicle formations," IEEE Transactions on Automatic Control, vol. 49, no. 9, pp. 1465-1476, 2004.   DOI
7 W. Ren, "On consensus algorithms for double-integrator dynamics," IEEE Transactions on Automatic Control, vol. 53, no. 6, pp. 1503-1509, 2008.   DOI   ScienceOn
8 C. I. Byrnes, F. D. Priscoli, and A. Isidori, Output Regulation of Uncertain Nonlinear Systems, Birkhauser, 1997.
9 G. F. Franklin, J. D. Powell, and A Emami-Naeini, Feedback Control of Dynamic Systems, Prentice Hall, 2006.