TY - GEN
T1 - Practical consensus for heterogeneous linear time-varying multi-agent systems
AU - Kim, Jaeyong
AU - Yang, Jongwook
AU - Kim, Jungsu
AU - Shim, Hyungbo
PY - 2012
Y1 - 2012
N2 - This paper studies practical consensus (PC) problem for linear multi-agent systems (MAS) under a fixed, connected, and undirected communication network. PC means that the difference between any two agents remains in an arbitrarily chosen neighborhood of the origin after some time by using a suitable control law. All the agents, which are heterogeneous first-order linear time-varying (LTV) systems, can collect only relative state information from their neighborhoods. According to the assumptions of MAS, we divide the problem into two cases; one is a class of homogeneous LTV MAS with heterogeneous disturbances where the difference between any two disturbances is bounded, and the other is a class of heterogeneous LTV MAS with heterogeneous bounded disturbances. Finally, we show that PC for each case is always achieved if the control gain is sufficiently large.
AB - This paper studies practical consensus (PC) problem for linear multi-agent systems (MAS) under a fixed, connected, and undirected communication network. PC means that the difference between any two agents remains in an arbitrarily chosen neighborhood of the origin after some time by using a suitable control law. All the agents, which are heterogeneous first-order linear time-varying (LTV) systems, can collect only relative state information from their neighborhoods. According to the assumptions of MAS, we divide the problem into two cases; one is a class of homogeneous LTV MAS with heterogeneous disturbances where the difference between any two disturbances is bounded, and the other is a class of heterogeneous LTV MAS with heterogeneous bounded disturbances. Finally, we show that PC for each case is always achieved if the control gain is sufficiently large.
KW - heterogeneous multi-agent systems
KW - linear time-varying systems
KW - practical consensus
UR - http://www.scopus.com/inward/record.url?scp=84872554025&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:84872554025
SN - 9781467322478
T3 - International Conference on Control, Automation and Systems
SP - 23
EP - 28
BT - ICCAS 2012 - 2012 12th International Conference on Control, Automation and Systems
T2 - 2012 12th International Conference on Control, Automation and Systems, ICCAS 2012
Y2 - 17 October 2012 through 21 October 2012
ER -