Stable‐protocol output consensualization for high‐order swarm systems with switching topologies | Zendy

Xi Jianxiang | Zendy; Shi Zongying | Zendy; Zhong Yisheng | Zendy

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Stable‐protocol output consensualization for high‐order swarm systems with switching topologies

Author(s) -

Xi Jianxiang,

Shi Zongying,

Zhong Yisheng

Publication year - 2013

Publication title -

international journal of robust and nonlinear control

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 1.361

H-Index - 106

eISSN - 1099-1239

pISSN - 1049-8923

DOI - 10.1002/rnc.2867

Subject(s) - network topology , observability , control theory (sociology) , output feedback , computer science , protocol (science) , multi agent system , swarm behaviour , function (biology) , topology (electrical circuits) , mathematics , mathematical optimization , control (management) , medicine , alternative medicine , pathology , combinatorics , artificial intelligence , evolutionary biology , biology , operating system

SUMMARY Stable‐protocol (SP) output consensus analysis and design for high‐order linear time‐invariant swarm systems with switching topologies are dealt with. Firstly, on the basis of observability decomposition, a dynamic output feedback consensus protocol with switching topologies is given. Then, a necessary and sufficient condition for SP output consensus is shown, and an explicit expression of the output consensus function is presented, which is independent of switching topologies. Furthermore, necessary and/or sufficient conditions for SP output consensualization, which are independent of the number of agents, are shown respectively. Finally, a numerical example is shown to demonstrate theoretical results. Copyright © 2012 John Wiley & Sons, Ltd.

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