Stability analysis for multi-agent systems using the incidence matrix: Quantized communication and formation control
2010 (English)In: Automatica, ISSN 0005-1098, Vol. 46, no 4, 695-700 p.Article in journal (Refereed) Published
The spectral properties of the incidence matrix of the communication graph are exploited to provide solutions to two multi-agent control problems. In particular, we consider the problem of state agreement with quantized communication and the problem of distance-based formation control. In both cases, stabilizing control laws are provided when the communication graph is a tree. It is shown how the relation between tree graphs and the null space of the corresponding incidence matrix encode fundamental properties for these two multi-agent control problems.
Place, publisher, year, edition, pages
2010. Vol. 46, no 4, 695-700 p.
Multi-agent systems, Formation control, Quantized control, Algebraic graph theory, Networked control
IdentifiersURN: urn:nbn:se:kth:diva-28292DOI: 10.1016/j.automatica.2010.01.012ISI: 000276755900008ScopusID: 2-s2.0-77949289121OAI: oai:DiVA.org:kth-28292DiVA: diva2:386907
FunderSwedish Research Council
QC 201101132011-01-132011-01-122012-01-13Bibliographically approved