Controlling identical linear multi-agent systems over directed graphs
Fuente:
arXiv
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| Autori principali: | , , , , |
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| Natura: | Preprint |
| Pubblicazione: |
2023
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| Soggetti: | |
| Accesso online: | |
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| _version_ | 1866917572552687616 |
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| author | Zaupa, Nicola Zaccarian, Luca Queinnec, Isabelle Tarbouriech, Sophie Giordano, Giulia |
| author_facet | Zaupa, Nicola Zaccarian, Luca Queinnec, Isabelle Tarbouriech, Sophie Giordano, Giulia |
| contents | We consider the problem of synchronizing a multi-agent system (MAS) composed of several identical linear systems connected through a directed graph.To design a suitable controller, we construct conditions based on Bilinear Matrix Inequalities (BMIs) that ensure state synchronization.Since these conditions are non-convex, we propose an iterative algorithm based on a suitable relaxation that allows us to formulate Linear Matrix Inequality (LMI) conditions.As a result, the algorithm yields a common static state-feedback matrix for the controller that satisfies general linear performance constraints.Our results are achieved under the mild assumption that the graph is time-invariant and connected. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2312_15929 |
| institution | arXiv |
| publishDate | 2023 |
| record_format | arxiv |
| spellingShingle | Controlling identical linear multi-agent systems over directed graphs Zaupa, Nicola Zaccarian, Luca Queinnec, Isabelle Tarbouriech, Sophie Giordano, Giulia Multiagent Systems Dynamical Systems We consider the problem of synchronizing a multi-agent system (MAS) composed of several identical linear systems connected through a directed graph.To design a suitable controller, we construct conditions based on Bilinear Matrix Inequalities (BMIs) that ensure state synchronization.Since these conditions are non-convex, we propose an iterative algorithm based on a suitable relaxation that allows us to formulate Linear Matrix Inequality (LMI) conditions.As a result, the algorithm yields a common static state-feedback matrix for the controller that satisfies general linear performance constraints.Our results are achieved under the mild assumption that the graph is time-invariant and connected. |
| title | Controlling identical linear multi-agent systems over directed graphs |
| topic | Multiagent Systems Dynamical Systems |
| url | https://arxiv.org/abs/2312.15929 |