TY - GEN
T1 - Passivity based state synchronization of multi-agent systems via static or adaptive nonlinear dynamic protocols
AU - Liu, Zhenwei
AU - Zhang, Meirong
AU - Saberi, Ali
AU - Stoorvogel, Antonie Arij
PY - 2018
Y1 - 2018
N2 - This paper studies state synchronization of homogeneous multi-agent systems (MAS) with partial-state coupling (i.e., agents are coupled through part of states). We identify three classes of agents, for which static linear protocols can be designed. They are agent which are squared-down passive, squared-down passifiable via output feedback, or G-minimum-phase with relative degree 1. We find that, for squared-down passive agents, the static protocol does not need any network information, as long as the network graph contains a directed spanning tree, while for the other two classes of agents, the static protocol needs rough information on the network graph, in particular, a lower bound of the non-zero eigenvalues of the Laplacian matrix associated with the network graph. However, when adaptive nonlinear dynamic protocols are utilized, even this rough information about the network is no longer needed for the other two classes of agents.
AB - This paper studies state synchronization of homogeneous multi-agent systems (MAS) with partial-state coupling (i.e., agents are coupled through part of states). We identify three classes of agents, for which static linear protocols can be designed. They are agent which are squared-down passive, squared-down passifiable via output feedback, or G-minimum-phase with relative degree 1. We find that, for squared-down passive agents, the static protocol does not need any network information, as long as the network graph contains a directed spanning tree, while for the other two classes of agents, the static protocol needs rough information on the network graph, in particular, a lower bound of the non-zero eigenvalues of the Laplacian matrix associated with the network graph. However, when adaptive nonlinear dynamic protocols are utilized, even this rough information about the network is no longer needed for the other two classes of agents.
KW - Multi-agent system
KW - Squared-down passivity
KW - State synchronization
UR - http://www.scopus.com/inward/record.url?scp=85050874453&partnerID=8YFLogxK
U2 - 10.1109/CCDC.2018.8407937
DO - 10.1109/CCDC.2018.8407937
M3 - Conference contribution
SN - 9781538612439
T3 - Proceedings of the 30th Chinese Control and Decision Conference, CCDC 2018
SP - 4662
EP - 4667
BT - Proceedings of the 30th Chinese Control and Decision Conference, CCDC 2018
PB - IEEE
CY - Piscataway, NJ
T2 - 2018 Chinese Control And Decision Conference (CCDC)
Y2 - 9 June 2018 through 11 June 2018
ER -