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LMI-based consensus of linear multi-agent systems by reduced-order dynamic output feedback.

Bruno M C Silva1, João Y Ishihara1, Eduardo S Tognetti1

  • 1Department Electrical Engineering, University of Brasilia, Brasilia, DF, Brazil.

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|March 21, 2022
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Summary

This study presents novel conditions for achieving consensus in multi-agent systems using dynamic output feedback, even with external disturbances. The research offers new methods for designing controllers to ensure system synchronization and stability.

Keywords:
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Area of Science:

  • Control Systems Engineering
  • Networked Systems Theory
  • Robotics and Automation

Background:

  • Multi-agent systems (MAS) are crucial for distributed tasks.
  • Achieving consensus (agreement) in MAS is vital for coordinated behavior.
  • External disturbances and limited communication impact MAS performance.

Purpose of the Study:

  • To develop new conditions for consensus in homogeneous MAS under disturbances.
  • To design dynamic output feedback protocols for synchronization.
  • To address consensus problems in directed communication graphs.

Main Methods:

  • Rewriting the synchronization problem as output feedback stabilization.
  • Developing necessary and sufficient conditions for dynamic output feedback controllers.
  • Utilizing Linear Matrix Inequalities (LMIs) for H-infinity consensus.

Main Results:

  • New conditions for consensus in MAS with directed graphs.
  • Design of arbitrary-order dynamic output feedback controllers.
  • Sufficient LMIs for achieving H-infinity consensus.

Conclusions:

  • The proposed dynamic output feedback approach effectively achieves consensus in MAS.
  • The methodology handles exogenous disturbances and directed communication.
  • Numerical experiments validate the controller design and consensus achievement.