Cooperative Control of Multi-Agent Systems

2

Consensus Control of Linear Multi-Agent Systems: Continuous-Time Case

CONTENTS

2.1    Problem Statement

2.2    State Feedback Consensus Protocols

2.2.1    Consensus Condition and Consensus Value

2.2.2    Consensus Region

2.2.3    Consensus Protocol Design

2.2.3.1    The Special Case with Neutrally Stable Agents

2.2.3.2    The General Case

2.2.3.3    Consensus with a Prescribed Convergence Rate

2.3    Observer-Type Consensus Protocols

2.3.1    Full-Order Observer-Type Protocol I

2.3.2    Full-Order Observer-Type Protocol II

2.3.3    Reduced-Order Observer-Based Protocol

2.4    Extensions to Switching Communication Graphs

2.5    Extension to Formation Control

2.6    Notes

In the area of cooperative control of multi-agent systems, consensus ...