期刊
IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS I-REGULAR PAPERS
卷 58, 期 8, 页码 1924-1932出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TCSI.2011.2106032
关键词
Algebraic graph theory; consensus region; higher order consensus; leader-follower control; multiagent system
资金
- NSFC-HKRGC [N-CityU107/07]
- DAAD Scholarship (Deutscher Akademischer Austauschdienst Dienst) [423]
- German Science Foundation (DFG) [SFB 555]
- National Science Foundation [ECCS-0748287]
- Australian Research Council
- Directorate For Engineering [1213291] Funding Source: National Science Foundation
- Directorate For Engineering
- Div Of Electrical, Commun & Cyber Sys [0748287] Funding Source: National Science Foundation
- Div Of Electrical, Commun & Cyber Sys [1213291] Funding Source: National Science Foundation
This paper studies general higher order distributed consensus protocols in multiagent dynamical systems. First, network synchronization is investigated, with some necessary and sufficient conditions derived for higher order consensus. It is found that consensus can be reached if and only if all subsystems are asymptotically stable. Based on this result, consensus regions are characterized. It is proved that for the mth-order consensus, there are at most left perpendicular(m + 1)/2right perpendicular disconnected stable and unstable consensus regions. It is shown that consensus can be achieved if and only if all the nonzero eigenvalues of the Laplacian matrix lie in the stable consensus regions. Moreover, the ratio of the largest to the smallest nonzero eigenvalues of the Laplacian matrix plays a key role in reaching consensus and a scheme for choosing the coupling strength is derived. Furthermore, a leader-follower control problem in multiagent dynamical systems is considered, which reveals that to reach consensus the agents with very small degrees must be informed. Finally, simulation examples are given to illustrate the theoretical analysis.
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