Discrete-Time Leader-Following Consensus Over Switching Digraphs With General System Modes
Publication in refereed journal

香港中文大學研究人員
替代計量分析
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其它資訊
摘要The existing results on the leader-following consensus problem for linear discrete-time multiagent systems over jointly connected switching digraphs only apply to systems without exponentially unstable modes. In this article, we will remove this restriction by employing a more general class of distributed control laws which includes a set of weight coefficients. By introducing the average radius for a switched matrix which is determined by the Laplacian matrix of the switching digraph of the multiagent system and the set of the weight coefficients, we show that the leader-following consensus problem is solvable if the product of this average radius and the spectral radius of the system matrix is less than unity. Since this average radius can be made less than unity by appropriately choosing the weight coefficients, our result applies to systems containing certain exponentially unstable modes. As a byproduct, the upper bound of the convergence rate can also be specified. Moreover, for the case where the switching digraph is acyclic jointly connected, we prove that the average radius can be made zero by a set of weight coefficients, and, hence, the leader-following consensus can always be achieved regardless of the system mode. Interestingly, the tracking error in this case vanishes in finite time.
著者Liu JW, Huang J
期刊名稱IEEE Transactions on Automatic Control
出版年份2021
月份3
卷號66
期次3
出版社IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
頁次1238 - 1245
國際標準期刊號0018-9286
電子國際標準期刊號1558-2523
語言英式英語
關鍵詞Switches, Multi-agent systems, Convergence, Decentralized control, Indexes, Switched systems, Laplace equations, Convergence rate, finite-time consensus, leader-following consensus, multiagent systems, switching topology
Web of Science 學科類別Automation & Control Systems;Engineering, Electrical & Electronic;Automation & Control Systems;Engineering

上次更新時間 2021-23-11 於 23:55