Observer-Based Stabilization for Linear Multi-Agent Dynamical Systems Using Generalized Frequency Variables
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arXiv
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| Main Authors: | , , |
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| Format: | Preprint |
| Published: |
2026
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| _version_ | 1866914576052781056 |
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| author | Tran, G. Q. Bao Hori, Yutaka Hara, Shinji |
| author_facet | Tran, G. Q. Bao Hori, Yutaka Hara, Shinji |
| contents | We address the conditions and design of controllers and observers for homogeneous networks of linear MIMO agents. We develop networked controllers and observers that ensure the stability of both the system state and the estimation error, leveraging the concept of generalized frequency variables. A separation principle for networks is then established, showing that the observer and controller can be designed independently and combined to achieve a stable output feedback. Our results are illustrated via a highly unstable, oscillatory network of locally actuated pendulums on carts. Finally, necessary conditions for controllability and observability -- derived from agent properties and network structure -- are established and discussed. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2605_17715 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Observer-Based Stabilization for Linear Multi-Agent Dynamical Systems Using Generalized Frequency Variables Tran, G. Q. Bao Hori, Yutaka Hara, Shinji Systems and Control Dynamical Systems We address the conditions and design of controllers and observers for homogeneous networks of linear MIMO agents. We develop networked controllers and observers that ensure the stability of both the system state and the estimation error, leveraging the concept of generalized frequency variables. A separation principle for networks is then established, showing that the observer and controller can be designed independently and combined to achieve a stable output feedback. Our results are illustrated via a highly unstable, oscillatory network of locally actuated pendulums on carts. Finally, necessary conditions for controllability and observability -- derived from agent properties and network structure -- are established and discussed. |
| title | Observer-Based Stabilization for Linear Multi-Agent Dynamical Systems Using Generalized Frequency Variables |
| topic | Systems and Control Dynamical Systems |
| url | https://arxiv.org/abs/2605.17715 |