Change search
ReferencesLink to record
Permanent link

Direct link
An extension of LaSalle's invariance principle and its application to multi-agent consensus
KTH, School of Engineering Sciences (SCI), Mathematics (Dept.), Optimization and Systems Theory. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.ORCID iD: 0000-0003-0177-1993
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
Abstract [en]

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.
Keyword [en]
LaSalle's invariance principle, multi-agent consensus, switched linear, systems, weak common quadratic Lyapunov function, quadratic lyapunov functions, switched systems, dynamical-systems, stability, hybrid
National Category
Other Mathematics
URN: urn:nbn:se:kth:diva-17830DOI: 10.1109/tac.2008.928332ISI: 000259263900025ScopusID: 2-s2.0-52249114264OAI: diva2:335875

QC 20100525

Available from: 2010-08-05 Created: 2010-08-05 Last updated: 2016-05-30Bibliographically approved

Open Access in DiVA

No full text

Other links

Publisher's full textScopus

Search in DiVA

By author/editor
Hu, Xiaoming
By organisation
Optimization and Systems TheoryACCESS Linnaeus CentreCentre for Autonomous Systems, CAS
In the same journal
IEEE Transactions on Automatic Control
Other Mathematics

Search outside of DiVA

GoogleGoogle Scholar
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

Altmetric score

Total: 65 hits
ReferencesLink to record
Permanent link

Direct link