Reduced-Order Distributed Consensus Controller Design via Edge Dynamics

DOI10.1109/TAC.2016.2554279MaRDI QIDQ2979308zbMATH OpenOpenAlexFDO

Authors Dinh Hoa Nguyen

Publication date 3 May 2017

Published in IEEE Transactions on Automatic Control (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1508.06346

Mathematics Subject Classification ID

Decentralized systems (93A14) Eigenvalue problems (93B60) Linear systems in control theory (93C05)

Abstract: This paper proposes a novel approach to design reduced-order distributed consensus controllers for multi-agent systems (MASs) with identical linear dynamics of agents. A new model namely edge dynamics representing the differences on agents' states is first presented. Then the distributed consensus controller design is shown to be equivalent to the synthesis of a distributed stabilizing controller for this edge dynamics. Consequently, based on LQR approach, the globally optimal and locally optimal distributed stabilizing controller designs are proposed, of which the locally distributed stabilizing controller for the edge dynamics results in a distributed consensus controller for the MAS with no conservative bound on the coupling strength. This approach is next further developed to obtain reduced-order distributed consensus controllers for linear MASs. Several numerical examples are introduced to illustrate the theoretical results.

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Cited in

(14)

• An edge-based augmented system approach for second-order nodal consensus
• Edge controllability of signed networks
• Robust consensus control for a class of multi-agent systems via distributed PID algorithm and weighted edge dynamics
• Distributed consensus control for multi-agent systems under denial-of-service
• Leaderless and leader-following consensus of linear multi-agent systems with distributed event-triggered estimators
• Leader-following mean square consensus of stochastic multi-agent systems with input delay via event-triggered control
• Multi-agent control: a graph-theoretic perspective
• EDCHO: high order exact dynamic consensus
• Stability and robustness of edge-agreement-based consensus protocols for undirected proximity graphs
• Existence, properties and trajectory specification of generalised multi-agent flocking
• A suboptimality approach to distributed \(\mathcal{H}_2\) control by dynamic output feedback
• \( \mathcal{H}_2\) suboptimal output synchronization of heterogeneous multi-agent systems
• Effects of Edge Elimination on the Delay Margin of a Class of LTI Consensus Dynamics
• Distributed consensus design for a class of uncertain linear multiagent systems under unbalanced randomly switching directed topologies

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