Consensus of high order linear multi-agent systems using output error feedback
2009 (engelsk)Inngår i: Proceedings of the 48th IEEE Conference on Decision and Control, 2009 held jointly with the 2009 28th Chinese Control Conference. CDC/CCC 2009, IEEE , 2009, s. 3685-3690Konferansepaper, Publicerat paper (Fagfellevurdert)
Abstract [en]
In this paper, we study the consensus problem of multi-agent systems in which each agent adopts the same linear model that can be of any order. We consider the case where only the relative output error between the neighboring agents can be measured. In order to solve the consensus problem, two kinds of decentralized control laws are designed. We first show that a static output error feedback control can solve the consensus problem if some further constraints on the system model is imposed. Then we use an observer based approach to design a dynamic output error feedback consensus control. We note that with the observer based approach, some information exchange between the agents is needed unless the associated adjacent graph is completely connected.
sted, utgiver, år, opplag, sider
IEEE , 2009. s. 3685-3690
Serie
Proceedings of the IEEE Conference on Decision and Control, ISSN 0191-2216
Emneord [en]
Consensus control, Consensus problems, Decentralized control law, Dynamic output, High order, Information exchanges, Linear model, Output errors, Static output, System models, Decentralized control, Model structures, Observability, Multi agent systems
HSV kategori
Identifikatorer
URN: urn:nbn:se:kth:diva-152444DOI: 10.1109/CDC.2009.5400741ISI: 000336893604030Scopus ID: 2-s2.0-77950800713ISBN: 978-1-4244-3872-3 (tryckt)OAI: oai:DiVA.org:kth-152444DiVA, id: diva2:750128
Konferanse
48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009, 15 December 2009 through 18 December 2009, Shanghai, China
Merknad
QC 20140926
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