2022/01/19 by Chong Jin Ong, Ong, Chong Jin, Ilayda Canyakmaz +1
Computer Science · #Distributed Control Multi-Agent Systems #FOS: Electrical engineering #Neural Networks Stability and Synchronization #Nonlinear Dynamics and Pattern Formation #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.2201.07532
openalex publication_date 2022/01/19 · openalex created_date 2022/04/03 · openalex updated_date 2026/07/28
This work addresses the synchronization/consensus problem of identical multi-agent system (MAS) where the agents' dynamics are linear and the communication network is arbitrarily switching among connected topologies. The approach uses a gain matrix of a special structure in a dynamic compensator for each agent. Under reasonable conditions, the approach ensures that consensus is reached when the gain is sufficiently large. This result holds for general linear systems including the case where agents have repeated unstable eigenvalues. The proposed controller structure can be seen as a special case of the existing MAS controller structures but offers consensus conditions that are simpler than existing results, especially for the case when the network is switching among connected graphs. The works shows its application to three communication settings: fixed graph, switching among undirected and connected graphs and switching among directed and connected graphs. An example is provided to illustrate the results.