Passivity based state synchronization of multi-agent systems via static or adaptive nonlinear dynamic protocols

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

    Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

    Abstract

    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.
    Original languageEnglish
    Title of host publicationProceedings of the 30th Chinese Control and Decision Conference, CCDC 2018
    Subtitle of host publication09-11 June 2018, Shenyang, China
    Place of PublicationPiscataway, NJ
    PublisherIEEE
    Pages4662 -4667
    Number of pages6
    ISBN (Electronic)9781538612439
    ISBN (Print)9781538612439
    DOIs
    Publication statusPublished - 2018
    Event2018 Chinese Control And Decision Conference (CCDC) - Shenyang, China
    Duration: 9 Jun 201811 Jun 2018

    Publication series

    NameProceedings of the 30th Chinese Control and Decision Conference, CCDC 2018

    Conference

    Conference2018 Chinese Control And Decision Conference (CCDC)
    CountryChina
    CityShenyang
    Period9/06/1811/06/18

    Keywords

    • Multi-agent system
    • Squared-down passivity
    • State synchronization

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