An extension of LaSalle's invariance principle and its application to multi-agent consensus

被引：110

作者：

Cheng, Daizhan ^{[1
]}

Wang, Jinhuan ^{[1
]}

Hu, Xiaoming ^{[2
]}

机构：

[1] Chinese Acad Sci, Inst Syst Sci, Beijing 100080, Peoples R China

[2] Royal Inst Technol, Optimizat & Syst Theory & ACCESS Linnaeus Ctr, S-10044 Stockholm, Sweden

来源：

IEEE TRANSACTIONS ON AUTOMATIC CONTROL | 2008年 / 53卷 / 07期

关键词：

LaSalle's invariance principle; multi-agent consensus; switched linear systems; weak common quadratic Lyapunov function;

D O I：

10.1109/TAC.2008.928332

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In the paper, an extension of LaSalle's Invariance Principle to a class of switched linear systems is studied. One of the motivations is the consensus problem in multi-agent systems. Unlike most existing results in which each switching mode in the system needs to be asymptotically stable, this paper allows that the switching modes are only Lyapunov stable. Under certain ergodicity assumptions, an extension of LaSalle's Invariance Principle for global asymptotic stability is obtained. Then it is used to solve the consensus reaching problem of certain multi-agent systems in which each agent is modeled by a double integrator, and the associated interaction graph is switching and is assumed to be only jointly connected.

引用

页码：1765 / 1770

页数：6

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