TY - JOUR

T1 - Consensus of heterogeneous linear multi-agent systems

T2 - Linear-transformation-based partial stability approach

AU - Chen, Yangzhou

AU - Qu, Xiaojun

AU - Aleksandrov, A. Yu

AU - Dai, Guiping

PY - 2017/11/1

Y1 - 2017/11/1

N2 - We deal with the state consensus problem of a general heterogeneous linear multi-agent system under a time-invariant and directed communication topology. First we adopt a general linear consensus protocol consisting of two parts. One is a state feedback of the agent for independently regulating its dynamics, and the other is a cooperative term in a generalized feedback form of the relative states between the agents. Then we propose a state-linear-transformation to equivalently transform the state consensus problem into a partial stability problem. Therefore, the result from the partial stability theory is applied to derive a sufficient and necessary algebraic criterion of consensus convergence, which is expressed in terms of the Hurwitz stability of a real matrix constructed from the parameters of both the agents’ models and the protocol. Meanwhile, an analytical formula of the consensus function is presented. Based on the criterion, we propose a design procedure of the gain matrices in the protocol by solving a bilinear matrix inequality.

AB - We deal with the state consensus problem of a general heterogeneous linear multi-agent system under a time-invariant and directed communication topology. First we adopt a general linear consensus protocol consisting of two parts. One is a state feedback of the agent for independently regulating its dynamics, and the other is a cooperative term in a generalized feedback form of the relative states between the agents. Then we propose a state-linear-transformation to equivalently transform the state consensus problem into a partial stability problem. Therefore, the result from the partial stability theory is applied to derive a sufficient and necessary algebraic criterion of consensus convergence, which is expressed in terms of the Hurwitz stability of a real matrix constructed from the parameters of both the agents’ models and the protocol. Meanwhile, an analytical formula of the consensus function is presented. Based on the criterion, we propose a design procedure of the gain matrices in the protocol by solving a bilinear matrix inequality.

KW - consensus function

KW - criterion of consensus convergence

KW - design of consensus protocol

KW - Heterogeneous linear multi-agent systems

KW - partial stability

KW - state-linear-transformation

UR - http://www.scopus.com/inward/record.url?scp=85034584592&partnerID=8YFLogxK

U2 - 10.1177/0142331216644316

DO - 10.1177/0142331216644316

M3 - Article

AN - SCOPUS:85034584592

VL - 39

SP - 1623

EP - 1630

JO - Transactions of the Institute of Measurement and Control

JF - Transactions of the Institute of Measurement and Control

SN - 0142-3312

IS - 11

ER -