Distributed consensus control for discrete-time linear multi-agent systems with reduced-order observer

Chen, Wenhai ; Gao, Lixin ; Xu, Xiaole ; Xu, Bingbing

Kybernetika, Tome 51 (2015) no. 4, pp. 639-654

Abstract (VO)

In this paper, we investigate multi-agent consensus problem with discrete-time linear dynamics under directed interaction topology. By assumption that all agents can only access the measured outputs of its neighbor agents and itself, a kind of distributed reduced-order observer-based protocols are proposed to solve the consensus problem. A multi-step algorithm is provided to construct the gain matrices involved in the protocols. By using of graph theory, modified discrete-time algebraic Riccati equation and Lyapunov method, the proposed protocols can be proved to solve the discrete-time consensus problem. Furthermore, the proposed protocol is generalized to solve the model-reference consensus problem. Finally, a simulation example is given to illustrate the effectiveness of our obtained results.

Détail

DOI : 10.14736/kyb-2015-4-0639

Classification : 93A14, 93C10
Keywords: multi-agent system; discrete-time system; distributed control; consensus; observer

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