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Dynamic consensus of high-order multi-agent systems and its application in the motion control of multiple mobile robots

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Abstract

In this paper, the leader-following consensus problem for multi-agent linear dynamic systems is considered. All agents and leader have identical multi-input multi-output (MIMO) linear dynamics that can be of any order, and only the output information of each agent is delivered throughout the communication network. When the interaction topology is fixed, the leader-following consensus is attained by H ∞ dynamic output feedback control, and the sufficient condition of robust controllers is equal to the solvability of linear matrix inequality (LMI). The whole analysis is based on spectral decomposition and an equivalent decoupled structure achieved, and the stability of the system is proved. Finally, we extended the theoretical results to the case that the interaction topology is switching. The simulation results for multiple mobile robots show the effectiveness of the devised methods.

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Authors and Affiliations

  1. Key Laboratory of Industrial Computer Control Engineering, Yanshan University, Qinhuangdao, 066004, PRC

    Zhong-Qiang Wu & Yang Wang

Authors
  1. Zhong-Qiang Wu
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  2. Yang Wang
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Correspondence to Zhong-Qiang Wu.

Additional information

Zhong-Qiang Wu received the B. Sc. and M. Sc. degrees in automatic control from Northeast Heavy Machinery Institute, PRC in 1989 and 1992, respectively, and Ph.D. degree in control theory and control engineering from China University of Ming and Technology, PRC in 2003. He is a professor at the Institute of Electrical Engineering Yanshan, University, PRC.

His research interests include robust control, fuzzy control, adaptive control, and robot control systems.

Yang Wang received the B.Eng. degree in automation from Yanshan University, PRC in 2008. She is currently an M. Eng. candidate in intelligent control and pattern recognition at the College of Electrical Engineering, Yanshan University, PRC.

Her research interests include cooperative control of multi-agent systems.

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Wu, ZQ., Wang, Y. Dynamic consensus of high-order multi-agent systems and its application in the motion control of multiple mobile robots. Int. J. Autom. Comput. 9, 54–62 (2012). https://doi.org/10.1007/s11633-012-0616-6

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  • DOI: https://doi.org/10.1007/s11633-012-0616-6

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