期刊
SYSTEMS & CONTROL LETTERS
卷 62, 期 5, 页码 438-446出版社
ELSEVIER
DOI: 10.1016/j.sysconle.2013.02.010
关键词
Multi-agent system; Controllability; Stabilizability; Switching topology; Cooperative control
资金
- National 973 Program of China [2012CB821203]
- National Science Foundation of China [61020106005, 61074144, 61075114, 61203374]
The paper studies decentralized stabilizability for multi-agent systems with general linear dynamics. The stabilizability problem is formulated in a way that the protocol performance can be evaluated by means of the stabilizability region and the feedback gain. For fixed topology, it is proved that the system is stabilizable if and only if external control inputs are exerted on some indicated agents. The result is further shown to be a prerequisite for subsequent design of the corresponding decentralized external self-feedback control, which is also necessary and sufficient. Based on this, two methods are presented to find the agents under which stabilizability can be reached, and the region of stabilizability is given to evaluate the protocol performance. For switching interaction topology, it is shown that the system is stabilizable even if each of its subsystems is not. Finally, the results are employed to cope with the decentralized set-point formation control problem, for which some necessary and/or sufficient conditions are developed. Numerical simulations are presented to demonstrate the effectiveness of the proposed results. (C) 2013 Elsevier B.V. All rights reserved.
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