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http://dx.doi.org/10.5302/J.ICROS.2014.14.0087

Group Average-consensus and Group Formation-consensus for First-order Multi-agent Systems  

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)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.20, no.12, 2014 , pp. 1225-1230 More about this Journal
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.
Keywords
group average-consensus; group formation-consensus; graph theory; multi-agent systems; Laplacian matrix;
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