Designing Fully Distributed Consensus Protocols for Linear Multi-Agent Systems With Directed Graphs
Peking University · State Key Laboratory of Turbulence and Complex Systems · +2 more institutions
Abstract
This technical note addresses the distributed consensus protocol design problem for multi-agent systems with general linear dynamics and directed communication graphs. Existing works usually design consensus protocols using the smallest real part of the nonzero eigenvalues of the Laplacian matrix associated with the communication graph, which however is global information. In this technical note, based on only the agent dynamics and the relative states of neighboring agents, a distributed adaptive consensus protocol is designed to achieve leader-follower consensus in the presence of a leader with a zero input for any communication graph containing a directed spanning tree with the leader as the root node. The…
Citation impact
- FWCI
- 67.28
- Percentile
- 100%
- References
- 31
Authors
4Topics & keywords
- Computer science
- Consensus
- Multi-agent system
- Distributed computing
- Directed graph
- Algorithm
- Artificial intelligence