Distributed Consensus of Linear Multi-Agent Systems with Switching Directed Topologies
Abstract
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.
Cite
@article{arxiv.1409.5519,
title = {Distributed Consensus of Linear Multi-Agent Systems with Switching Directed Topologies},
author = {Guanghui Wen and Valery Ugrinovskii},
journal= {arXiv preprint arXiv:1409.5519},
year = {2014}
}
Comments
The paper will be presented at the 2014 Australian Control Conference (AUCC 2014), Canberra, Australia