Distributed Consensus of Linear Multi-Agent Systems with Switching Directed Topologies

This paper addresses the distributed consensus problem for a linear multi-agent system with switching directed communication topologies. By appropriately introducing a linear transformation, the consensus problem is equivalently converted to a stabilization problem for a class of switched linear systems. Some sufficient consensus conditions are then derived by using tools from the matrix theory and stability analysis of switched systems. It is proved that consensus in such a multi-agent system can be ensured if each agent is stabilizable and each possible directed topology contains a directed spanning tree. Finally, a numerical simulation is given for illustration.Comment: The paper will be presented at the 2014 Australian Control Conference (AUCC 2014), Canberra, Australi

Guaranteed Cost Tracking for Uncertain Coupled Multi-agent Systems Using Consensus over a Directed Graph

This paper considers the leader-follower control problem for a linear multi-agent system with directed communication topology and linear nonidentical uncertain coupling subject to integral quadratic constraints (IQCs). A consensus-type control protocol is proposed based on each agent's states relative to its neighbors and leader's state relative to agents which observe the leader. A sufficient condition is obtained by overbounding the cost function. Based on this sufficient condition, a computational algorithm is introduced to minimize the proposed guaranteed bound on tracking performance, which yields a suboptimal bound on the system consensus control and tracking performance. The effectiveness of the proposed method is demonstrated using a simulation example.Comment: Accepted for presentation at the 2013 Australian Control conferenc