Leaderless state synchronization of homogeneous multi-agent systems via a universal adaptive nonlinear dynamic protocol

Zhenwei Liu, Meirong Zhang, Ali Saberi, Antonie Arij Stoorvogel

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    This paper studies leaderless state synchronization of continuous-time homogeneous multi-agent systems (MAS) with identical general linear agents. The communication network is with full-state coupling, or partial-state coupling but with additional information exchange. We assume that the communication topology is completely unknown and undirected. An adaptive nonlinear dynamic protocol design is presented to achieve leaderless state synchronization for a MAS. For the full-state coupling case, the protocol design is based on two methods. One is algebraic Riccati equation (ARE) method, and the other is asymptotic time-scale eigenstructure assignment (ATEA) method. We show that the adaptive nonlinear dynamic protocol is universal and does not depend on any information of communication topology such as lower bound of non-zero eigenvalue for the Laplacian matrix associated with the communication topology and the number of agents.
    Original languageEnglish
    Title of host publicationProceedings of the 30th Chinese Control and Decision Conference, CCDC 2018
    Subtitle of host publication9-11 June 2018, Shenyang, China
    Place of PublicationPiscataway, NJ
    Number of pages6
    ISBN (Electronic)978-1-5386-1244-6
    Publication statusPublished - 6 Jul 2018
    Event2018 Chinese Control And Decision Conference (CCDC) - Shenyang, China
    Duration: 9 Jun 201811 Jun 2018


    Conference2018 Chinese Control And Decision Conference (CCDC)


    • Adaptive protocol design
    • Leaderless state synchronization
    • Multi-agent system


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