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Stability analysis for multi-agent systems using the incidence matrix: Quantized communication and formation control
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre. (Laboratory for Information and Decision Systems, Massachusetts Institute of Technology)ORCID iD: 0000-0001-7309-8086
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.ORCID iD: 0000-0001-9940-5929
2010 (English)In: Automatica, ISSN 0005-1098, E-ISSN 1873-2836, Vol. 46, no 4, 695-700 p.Article in journal (Refereed) Published
Abstract [en]

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.
Keyword [en]
Multi-agent systems, Formation control, Quantized control, Algebraic graph theory, Networked control
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-28292DOI: 10.1016/j.automatica.2010.01.012ISI: 000276755900008Scopus ID: 2-s2.0-77949289121OAI: oai:DiVA.org:kth-28292DiVA: diva2:386907
Funder
Swedish Research Council
Note
QC 20110113Available from: 2011-01-13 Created: 2011-01-12 Last updated: 2017-12-11Bibliographically approved

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Dimarogonas, Dimos V.Johansson, Karl H.

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