Stability analysis for multi-agent systems using the incidence matrix: Quantized communication and formation control

被引：211

作者：

Dimarogonas, Dimos V. ^{[1
]}

Johansson, Karl H. ^{[2
]}

机构：

[1] MIT, Informat & Decis Syst Lab, Cambridge, MA 02139 USA

[2] Royal Inst Technol, ACCESS Linnaeus Ctr, Sch Elect Engn, SE-10044 Stockholm, Sweden

来源：

AUTOMATICA | 2010年 / 46卷 / 04期

基金：

瑞典研究理事会;

关键词：

Multi-agent systems; Formation control; Quantized control; Algebraic graph theory; Networked control; AGENTS;

D O I：

10.1016/j.automatica.2010.01.012

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The spectral properties of the incidence matrix of the communication graph are exploited to provide solutions to two multi-agent control problems. In particular, we consider the problem of state agreement with quantized communication and the problem of distance-based formation control. In both cases, stabilizing control laws are provided when the communication graph is a tree. It is shown how the relation between tree graphs and the null space of the corresponding incidence matrix encode fundamental properties for these two multi-agent control problems. (C) 2010 Elsevier Ltd. All rights reserved.

引用

页码：695 / 700

页数：6

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