Title :
LQR_based consensus algorithms of muti-agent systems with a prescribed convergence speed
Author :
Wei Liu ; Shaolei Zhou ; Shi Yan ; Qingpo Wu
Author_Institution :
Dept. of Control Eng., Naval Aeronaut. & Astronaut. Univ., Yantai, China
Abstract :
This paper studies the consensus problem of muti-agent systems with identical linear invariant dynamics. Both with and without a leader situation are considered. The controllers are designed with static relative output feedback. The communication topology is assumed to be fixed and contain a directed spanning tree. An optimal design method is introduced to design feedback gain so that the system can converge to the consensus value with a prescribed convergence speed.
Keywords :
control system synthesis; directed graphs; feedback; multi-agent systems; trees (mathematics); LQR_based consensus algorithms; communication topology; controller design; directed spanning tree; feedback gain design; identical linear invariant dynamics; leader situation; mutiagent systems; optimal design method; prescribed convergence speed; static relative output feedback; Aerodynamics; Convergence; Couplings; Eigenvalues and eigenfunctions; Output feedback; Topology; Vehicle dynamics;
Conference_Titel :
Guidance, Navigation and Control Conference (CGNCC), 2014 IEEE Chinese
Conference_Location :
Yantai
Print_ISBN :
978-1-4799-4700-3
DOI :
10.1109/CGNCC.2014.7007323
