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Consensus of multi-agent systems with general linear dynamics and reduced-order protocols

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4 Author(s)
Li Zhongkui ; Sch. of Autom., Beijing Inst. of Technol., Beijing, China ; Liu Xiangdong ; Lin Peng ; Ren Wei

This paper considers the consensus problems for both continuous- and discrete-time linear multi-agent systems with directed communication topologies. Distributed reduced-order observer-based consensus protocols are proposed, based on the relative outputs of neighboring agents. A multi-step algorithm is presented to construct a reduced-order protocol, under which a continuous-time multi-agent system whose communication topology contains a directed spanning tree can reach consensus. This algorithm has a favorable decoupling property. In light of the modified algebraic Riccati equation, an algorithm is then given to construct a reduced-order protocol for the discrete-time case.

Published in:

Control Conference (CCC), 2011 30th Chinese

Date of Conference:

22-24 July 2011