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Consensus of heterogeneous LTI agents
KTH, School of Engineering Sciences (SCI), Mathematics (Dept.), Optimization and Systems Theory.
2012 (English)In: IEEE Transactions on Automatic Control, ISSN 0018-9286, E-ISSN 1558-2523, Vol. 57, no 8, 2133-2139 p.Article in journal (Refereed) Published
Abstract [en]

A robust stability criterion is derived for a class of higher order consensus algorithms. In distinction to the standard consensus problem where the dynamics of all individual agents are the same and of low dimension, the criterion for reaching consensus now depends on the full spectrum of the communication graph and not only the largest nonzero eigenvalue. The new consensus criterion is posed as a Nyquist-like criterion that provides a clear separation between the individual dynamics and the spectrum of the graph. Our results are illustrated on a formation control problem for a target encircling task.

Place, publisher, year, edition, pages
2012. Vol. 57, no 8, 2133-2139 p.
Keyword [en]
Distributed control, large-scale systems, multiagent systems
National Category
Computational Mathematics
URN: urn:nbn:se:kth:diva-101524DOI: 10.1109/TAC.2012.2183178ISI: 000306916900029ScopusID: 2-s2.0-84864774593OAI: diva2:549256
Swedish Research CouncilEU, FP7, Seventh Framework ProgrammeICT - The Next Generation

QC 20120904

Available from: 2012-09-04 Created: 2012-08-30 Last updated: 2013-04-11Bibliographically approved

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Jönsson, Ulf T.
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