TY - JOUR
T1 - Exponential consensus of general linear multi-agent systems under directed dynamic topology
AU - Qin, Jiahu
AU - Yu, Brad
PY - 2014
Y1 - 2014
N2 - This paper aims to investigate the consensus control of generic linear multi-agent systems (MASs) under directed dynamic topology. Nonnegative matrix theory, in particular the product properties of infinite row-stochastic matrices, which are widely used for multiple integrator agents, is explored to deal with the convergence analysis of generic linear MASs. It is finally shown that the exponential consensus can be reached under very relaxed conditions, i.e., the directed interaction topology is only required to be repeatedly jointly rooted and the exponentially unstable mode of each individual system is weak enough. Moreover, a least convergence rate and a bound for the unstable mode of the individual agent system, both of which are independent of the switching mode, can be explicitly specified.
AB - This paper aims to investigate the consensus control of generic linear multi-agent systems (MASs) under directed dynamic topology. Nonnegative matrix theory, in particular the product properties of infinite row-stochastic matrices, which are widely used for multiple integrator agents, is explored to deal with the convergence analysis of generic linear MASs. It is finally shown that the exponential consensus can be reached under very relaxed conditions, i.e., the directed interaction topology is only required to be repeatedly jointly rooted and the exponentially unstable mode of each individual system is weak enough. Moreover, a least convergence rate and a bound for the unstable mode of the individual agent system, both of which are independent of the switching mode, can be explicitly specified.
U2 - 10.1016/j.automatica.2014.07.009
DO - 10.1016/j.automatica.2014.07.009
M3 - Article
VL - 50
SP - 2327
EP - 2333
JO - Automatica
JF - Automatica
IS - 9
ER -