Please use this identifier to cite or link to this item: https://doi.org/10.3182/20110828-6-IT-1002.01045
Title: Dynamic consensus and formation: Fixed and switching topologies
Authors: Xu, J. 
Li, T.
Xie, L.
Lum, K.Y. 
Keywords: Agents
Co-operative control
Convergence analysis
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
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