Admissible output consensus for singular swarm systems

For swarm systems consisting of agents described by high-order linear singular systems with singular dynamic output consensus protocol, admissible output consensus problems are investigated. By using observability decomposition and eigenvalue decomposition techniques, a sufficient condition for admissible output consensus and a necessary and sufficient condition for admissible LCE (limited control energy) output consensus are obtained. Further, it is shown that the stabilizability of agents is a sufficient condition for admissible output consensualizability, and the protocol design problem is converted to two stabilization problems, which have no relationship with the numbers of the agents. Finally, a numerical example is provided to demonstrate the effectiveness of protocol design approach.

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