General linear second-order consensus control with guaranteed rate of convergence

Author

Fruhnert, Michael ; Corless, Martin

Author_Institution

Sch. of Aeronaut. & Astronaut., Purdue Univ., West Lafayette, IN, USA

fYear

2015

fDate

1-3 July 2015

Firstpage

4118

Lastpage

4123

Abstract

This paper presents necessary and sufficient conditions to achieve consensus for a homogeneous network of linear second-order systems. Simple controllers to achieve consensus with a guaranteed rate of convergence are proposed. The only requirement is that the network graph contain a spanning tree. The eigenvalues of the graph Laplacian can be complex and the consensus behavior of the systems will not be altered. The paper concludes with an example where the proposed controllers were used to synchronize a network of damped oscillators.

Keywords

convergence; damping; eigenvalues and eigenfunctions; linear systems; network theory (graphs); oscillators; synchronisation; trees (mathematics); damped oscillator network synchronization; general linear second-order consensus control; graph Laplacian eigenvalues; guaranteed convergence rate; homogeneous network; necessary and sufficient conditions; network graph; spanning tree; Convergence; Eigenvalues and eigenfunctions; Laplace equations; Multi-agent systems; Oscillators; Synchronization; Vehicle dynamics; consensus; convergence; cooperative systems; distributed control; linear systems; second-order dynamics; synchronization;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference (ACC), 2015

Conference_Location

Chicago, IL

Print_ISBN

978-1-4799-8685-9

Type

conf

DOI

10.1109/ACC.2015.7171975

Filename

7171975