Geodesic
Parametrization and geometric analysis of coordination controllers for multi-agent systems
Kybernetika, Tome 45 (2009) no. 5, pp. 785-800.

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In this paper, we address distributed control structures for multi-agent systems with linear controlled agent dynamics. We consider the parametrization and related geometric structures of the coordination controllers for multi-agent systems with fixed topologies. Necessary and sufficient conditions to characterize stabilizing consensus controllers are obtained. Then we consider the consensus for the multi-agent systems with switching interaction topologies based on control parametrization.
Classification : 35R35, 49J40, 60G40, 93C85, 93D15
Keywords: multi-agent systems; parametrization; geometric structures; coordination control 
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     author = {Wang, Xiaoli and Hong, Yiguang},
     title = {Parametrization and geometric analysis of coordination controllers for multi-agent systems},
     journal = {Kybernetika},
     pages = {785--800},
     publisher = {mathdoc},
     volume = {45},
     number = {5},
     year = {2009},
     mrnumber = {2599112},
     zbl = {1209.93012},
     language = {en},
     url = {http://geodesic.mathdoc.fr/item/KYB_2009__45_5_a6/}
}
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Wang, Xiaoli; Hong, Yiguang. Parametrization and geometric analysis of coordination controllers for multi-agent systems. Kybernetika, Tome 45 (2009) no. 5, pp. 785-800. http://geodesic.mathdoc.fr/item/KYB_2009__45_5_a6/