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Guaranteed cost consensus for multi‐agent systems with switching topologies
Author(s) -
Wang Zhong,
Xi Jianxiang,
Yao Zhicheng,
Liu Guangbin
Publication year - 2014
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.3252
Subject(s) - network topology , mathematical optimization , computer science , lyapunov function , upper and lower bounds , consensus , laplacian matrix , eigenvalues and eigenvectors , multi agent system , state (computer science) , function (biology) , state space , control theory (sociology) , control (management) , laplace operator , topology (electrical circuits) , mathematics , algorithm , nonlinear system , artificial intelligence , mathematical analysis , statistics , physics , quantum mechanics , evolutionary biology , combinatorics , biology , operating system
Summary Firstly, guaranteed cost consensus for multi‐agent systems is introduced based on state errors among neighboring agents and control inputs of all agents, where a tradeoff between the consensus regulation performance and the control effort is considered. Then, a sufficient condition for guaranteed cost consensus is given by the state‐space decomposition approach and the Lyapunov method, where an upper bound of the cost function is determined and an approach is proposed to determine the control gain. It is worth mentioning that the criterions for guaranteed cost consensus are only dependent on the maximum eigenvalue of the Laplacian matrices of switching topologies. Finally, numerical simulations are given to demonstrate theoretical results. Copyright © 2014 John Wiley & Sons, Ltd.