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Squared‐down passivity–based state synchronization of homogeneous continuous‐time multiagent systems via static protocol in the presence of time‐varying topology
Author(s) -
Liu Zhenwei,
Stoorvogel Anton A.,
Saberi Ali,
Nojavanzadeh Donya
Publication year - 2019
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.4585
Subject(s) - synchronization (alternating current) , computer science , topology (electrical circuits) , protocol (science) , feed forward , control theory (sociology) , state (computer science) , homogeneous , passivity , multi agent system , mathematics , algorithm , control (management) , engineering , control engineering , medicine , alternative medicine , electrical engineering , pathology , combinatorics , artificial intelligence
Summary This paper studies state synchronization of homogeneous multiagent systems (MAS) via a static protocol with partial‐state coupling in the presence of a time‐varying communication topology, which includes general time‐varying graphs as well as switching graphs. If the agents are squared‐down passive or squared‐down passifiable (via static output feedback or static input feedforward), then a static protocol can be designed for balanced, time‐varying graphs. Moreover, this static protocol works for arbitrary switching directed graphs if the agents are squared‐down minimum phase with relative degree one. The static protocol is designed for each agent such that state synchronization is achieved without requiring exact knowledge about the time‐varying network.