Distributed consensus of large-scale multi-agent systems via linear-transformation-based partial stability approach

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• 作者：Xiaojun Qu^aAuthor Vitae ; Yangzhou Chen^a ; ^{yzchen@bjut.edu.cn}Author Vitae ; A. Yu. Aleksandrov^bAuthor Vitae ; Guiping Dai^aAuthor Vitae
• 关键词：00-01 ; 99-00
• 刊名：Neurocomputing
• 出版年：2017
• 出版时间：26 January 2017
• 年：2017
• 卷：222
• 期：Complete
• 页码：54-61
• 全文大小：976 K
• 卷排序：222

文摘

This paper investigates the consensus problem of large-scale multi-agent systems (MASs) with a directed communication topology, especially for the MAS whose topology contains small strongly connected components. A sufficient and necessary consensus criterion is proposed through the combination of two methods. Firstly, a communication searching algorithm is utilized to make sure that each agent obtains the local topology information of strongly connected component where it is located. Secondly, a state-linear-transformation decomposes the consensus problem into a group of stability problems based on the strongly connected components. The corresponding consensus criterion reduces the computational complexity. Moreover, according to the consensus criterion, a distributed design procedure of gain matrices is proposed based on the homotopy method.