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Admissible consensus and consensualization of high-order linear time-invariant singular swarm systems

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  • Xi, Jianxiang
  • Shi, Zongying
  • Zhong, Yisheng
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    Abstract

    Admissible consensus analysis and consensualizing controller design problems for high-order linear time-invariant singular swarm systems are investigated. Firstly, by projecting the state of a singular swarm system onto a consensus subspace and a complement consensus subspace, a necessary and sufficient condition for admissible consensus is presented in terms of linear matrix inequalities (LMIs). An approach to decrease the calculation complexity is proposed, by which only three LMIs independent of the number of agents need to be checked. Then, by using the changing variable method, sufficient conditions for admissible consensualization are shown. An explicit expression of the consensus function is given, and it is shown that the modes of the consensus function can be arbitrarily placed if each agent is R-controllable and impulse controllable and the interaction topology has a spanning tree. Finally, theoretical results are applied to deal with cooperative control problems of multi-agent supporting systems.

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    File URL: http://www.sciencedirect.com/science/article/pii/S037843711200670X
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    Bibliographic Info

    Article provided by Elsevier in its journal Physica A: Statistical Mechanics and its Applications.

    Volume (Year): 391 (2012)
    Issue (Month): 23 ()
    Pages: 5839-5849

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    Handle: RePEc:eee:phsmap:v:391:y:2012:i:23:p:5839-5849

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    Web page: http://www.journals.elsevier.com/physica-a-statistical-mechpplications/

    Related research

    Keywords: Admissible consensus; Singular swarm system; Cooperative control;

    References

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    Please report citation or reference errors to , or , if you are the registered author of the cited work, log in to your RePEc Author Service profile, click on "citations" and make appropriate adjustments.:
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    1. Xi, Jianxiang & Cai, Ning & Zhong, Yisheng, 2010. "Consensus problems for high-order linear time-invariant swarm systems," Physica A: Statistical Mechanics and its Applications, Elsevier, vol. 389(24), pages 5619-5627.
    2. Hu, Jiangping & Hong, Yiguang, 2007. "Leader-following coordination of multi-agent systems with coupling time delays," Physica A: Statistical Mechanics and its Applications, Elsevier, vol. 374(2), pages 853-863.
    3. Peng, Ke & Yang, Yupu, 2009. "Leader-following consensus problem with a varying-velocity leader and time-varying delays," Physica A: Statistical Mechanics and its Applications, Elsevier, vol. 388(2), pages 193-208.
    4. Xi, Jianxiang & Shi, Zongying & Zhong, Yisheng, 2011. "Consensus analysis and design for high-order linear swarm systems with time-varying delays," Physica A: Statistical Mechanics and its Applications, Elsevier, vol. 390(23), pages 4114-4123.
    5. Lin, Peng & Jia, Yingmin, 2008. "Average consensus in networks of multi-agents with both switching topology and coupling time-delay," Physica A: Statistical Mechanics and its Applications, Elsevier, vol. 387(1), pages 303-313.
    6. Czirók, András & Vicsek, Tamás, 2000. "Collective behavior of interacting self-propelled particles," Physica A: Statistical Mechanics and its Applications, Elsevier, vol. 281(1), pages 17-29.
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