Title :
On the Stabilizability and Consensus of Positive Homogeneous Multi-Agent Dynamical Systems
Author :
Valcher, Maria Elena ; Misra, Prasant
Author_Institution :
Dipt. di Ing. dell´Inf., Univ. di Padova, Padua, Italy
Abstract :
In this note we consider a supervisory control scheme that achieves either asymptotic stability or consensus for a group of homogenous agents described by a positive state-space model. Each agent is modeled by means of the same SISO positive state-space model, and the supervisory controller, representing the information exchange among the agents, is implemented via a static output feedback. Necessary and sufficient conditions for the asymptotic stability, or the consensus of all agents, are derived under the positivity constraint.
Keywords :
asymptotic stability; feedback; matrix algebra; multi-robot systems; state-space methods; SISO positive state-space model; asymptotic stability; homogenous agents; information exchange; necessary and sufficient condition; positive homogeneous multiagent dynamical systems; stabilizability; static output feedback; supervisory control scheme; supervisory controller; Asymptotic stability; Eigenvalues and eigenfunctions; Linear matrix inequalities; Multi-agent systems; Output feedback; State-space methods; Vectors; Asymptotic/simple stability; Hurwitz matrix; Metzler matrix; consensus; irreducible matrix; multi-agent system; positive linear system;
Journal_Title :
Automatic Control, IEEE Transactions on
DOI :
10.1109/TAC.2013.2294621
