Controlling identical linear multi-agent systems over directed graphs
Multiagent Systems
2024-01-24 v1 Dynamical Systems
Abstract
We consider the problem of synchronizing a multi-agent system (MAS) composed of several identical linear systems connected through a directed graph.To design a suitable controller, we construct conditions based on Bilinear Matrix Inequalities (BMIs) that ensure state synchronization.Since these conditions are non-convex, we propose an iterative algorithm based on a suitable relaxation that allows us to formulate Linear Matrix Inequality (LMI) conditions.As a result, the algorithm yields a common static state-feedback matrix for the controller that satisfies general linear performance constraints.Our results are achieved under the mild assumption that the graph is time-invariant and connected.
Cite
@article{arxiv.2312.15929,
title = {Controlling identical linear multi-agent systems over directed graphs},
author = {Nicola Zaupa and Luca Zaccarian and Isabelle Queinnec and Sophie Tarbouriech and Giulia Giordano},
journal= {arXiv preprint arXiv:2312.15929},
year = {2024}
}