Observer-based synchronization of heterogeneous multi-agent systems by homogenization

In this article a distributed control law for the full- and partial-state synchronization of possibly exponentially unstable linear heterogeneous multi-agent systems is presented. The design is based on the estimation of the absolute position of the agents which is used to compensate for the heterogeneity. Thereby, it is possible to reduce the problem to the known synchronization of linear homogeneous agents under certain conditions on the communication topology and the agent dynamics.

[1]  Hyungbo Shim,et al.  Output Consensus of Heterogeneous Uncertain Linear Multi-Agent Systems , 2011, IEEE Transactions on Automatic Control.

[2]  S. E. Tuna.  LQR-based coupling gain for synchronization of linear systems , 2008, 0801.3390.

[3]  Frank Allgöwer,et al.  An internal model principle is necessary and sufficient for linear output synchronization , 2011, Autom..

[4]  Ji-Feng Zhang,et al.  Necessary and Sufficient Conditions for Consensusability of Linear Multi-Agent Systems , 2010, IEEE Transactions on Automatic Control.

[5]  Ruggero Carli,et al.  Optimal Synchronization for Networks of Noisy Double Integrators , 2011, IEEE Transactions on Automatic Control.

[6]  R. Olfati-Saber,et al.  Consensus Filters for Sensor Networks and Distributed Sensor Fusion , 2005, Proceedings of the 44th IEEE Conference on Decision and Control.

[7]  Wei Ren,et al.  Information consensus in multivehicle cooperative control , 2007, IEEE Control Systems.

[8]  Reza Olfati-Saber,et al.  Consensus and Cooperation in Networked Multi-Agent Systems , 2007, Proceedings of the IEEE.

[9]  Arne Wahrburg,et al.  Partial-state synchronization of linear heterogeneous multi-agent systems , 2011, IEEE Conference on Decision and Control and European Control Conference.

[10]  Johan Löfberg,et al.  YALMIP : a toolbox for modeling and optimization in MATLAB , 2004 .

[11]  Kim-Chuan Toh,et al.  SDPT3 -- A Matlab Software Package for Semidefinite Programming , 1996 .

[12]  Jan Lunze,et al.  An internal-model principle for the synchronisation of autonomous agents with individual dynamics , 2011, IEEE Conference on Decision and Control and European Control Conference.

[13]  Richard M. Murray,et al.  INFORMATION FLOW AND COOPERATIVE CONTROL OF VEHICLE FORMATIONS , 2002 .

[14]  Carl D. Meyer,et al.  Matrix Analysis and Applied Linear Algebra , 2000 .