Please use this identifier to cite or link to this item:
|Title:||Dynamic consensus and formation: Fixed and switching topologies||Authors:||Xu, J.
|Issue Date:||2011||Citation:||Xu, J.,Li, T.,Xie, L.,Lum, K.Y. (2011). Dynamic consensus and formation: Fixed and switching topologies. IFAC Proceedings Volumes (IFAC-PapersOnline) 18 (PART 1) : 9188-9193. ScholarBank@NUS Repository. https://doi.org/10.3182/20110828-6-IT-1002.01045||Abstract:||This paper addresses the dynamic consensus and formation problems of multi-agent systems for both leader-less and leader-follower cases under fixed and switched topologies. Necessary and/or sufficient conditions are presented in terms of graph topology, detectability, stabilizability, rank condition and Lyapunov inequality constraints. These conditions explicitly reveal how the intrinsic dynamics of the agents and the communication topology affect consensusability and formationability. In addition, several constructive procedures for protocol design are proposed to achieve consensus and formation. In particular, the so-called separation principle is established, which simplifies the design procedure greatly. © 2011 IFAC.||Source Title:||IFAC Proceedings Volumes (IFAC-PapersOnline)||URI:||http://scholarbank.nus.edu.sg/handle/10635/111560||ISBN:||9783902661937||ISSN:||14746670||DOI:||10.3182/20110828-6-IT-1002.01045|
|Appears in Collections:||Staff Publications|
Show full item record
Files in This Item:
There are no files associated with this item.
checked on Nov 12, 2019
checked on Nov 8, 2019
Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.