An extension of LaSalle's invariance principle and its application to multi-agent consensus
2008 (English)In: IEEE Transactions on Automatic Control, ISSN 0018-9286, E-ISSN 1558-2523, Vol. 53, no 7, 1765-1770 p.Article in journal (Refereed) Published
In the paper, an extension of LaSalle's Invariance Principle to a class of switched linear systems is studied. One of the motivations is the consensus problem in multi-agent systems. Unlike most existing results in which each switching mode in the system needs to be asymptotically stable, this paper allows that the switching modes are only Lyapunov stable. Under certain ergodicity assumptions, an extension of LaSalle's Invariance Principle for global asymptotic stability is obtained. Then it is used to solve the consensus reaching problem of certain multi-agent systems in which each agent is modeled by a double integrator, and the associated interaction graph is switching and is assumed to be only jointly connected.
Place, publisher, year, edition, pages
2008. Vol. 53, no 7, 1765-1770 p.
LaSalle's invariance principle, multi-agent consensus, switched linear, systems, weak common quadratic Lyapunov function, quadratic lyapunov functions, switched systems, dynamical-systems, stability, hybrid
IdentifiersURN: urn:nbn:se:kth:diva-17830DOI: 10.1109/tac.2008.928332ISI: 000259263900025ScopusID: 2-s2.0-52249114264OAI: oai:DiVA.org:kth-17830DiVA: diva2:335875
QC 201005252010-08-052010-08-052016-05-30Bibliographically approved