Volume 9 Number 1
February 2012
Article Contents
Zhong-Qiang Wu and Yang Wang. Dynamic Consensus of High-order Multi-agent Systems and Its Application in the Motion Control of Multiple Mobile Robots. International Journal of Automation and Computing, vol. 9, no. 1, pp. 54-62, 2012. doi: 10.1007/s11633-012-0616-6
Cite as: Zhong-Qiang Wu and Yang Wang. Dynamic Consensus of High-order Multi-agent Systems and Its Application in the Motion Control of Multiple Mobile Robots. International Journal of Automation and Computing, vol. 9, no. 1, pp. 54-62, 2012. doi: 10.1007/s11633-012-0616-6

Dynamic Consensus of High-order Multi-agent Systems and Its Application in the Motion Control of Multiple Mobile Robots

Author Biography:
  • Corresponding author: Zhong-Qiang Wu
  • Received: 2010-11-16
通讯作者: 陈斌, bchen63@163.com
  • 1. 

    沈阳化工大学材料科学与工程学院 沈阳 110142

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Dynamic Consensus of High-order Multi-agent Systems and Its Application in the Motion Control of Multiple Mobile Robots

    Corresponding author: Zhong-Qiang Wu

Abstract: In this paper, the leader-following consensus problem for multi-agent linear dynamic systems is considered. All agents and leader have identical multi-input multi-output (MIMO) linear dynamics that can be of any order, and only the output information of each agent is delivered throughout the communication network. When the interaction topology is fixed, the leader-following consensus is attained by H dynamic output feedback control, and the sufficient condition of robust controllers is equal to the solvability of linear matrix inequality (LMI). The whole analysis is based on spectral decomposition and an equivalent decoupled structure achieved, and the stability of the system is proved. Finally, we extended the theoretical results to the case that the interaction topology is switching. The simulation results for multiple mobile robots show the effectiveness of the devised methods.

Zhong-Qiang Wu and Yang Wang. Dynamic Consensus of High-order Multi-agent Systems and Its Application in the Motion Control of Multiple Mobile Robots. International Journal of Automation and Computing, vol. 9, no. 1, pp. 54-62, 2012. doi: 10.1007/s11633-012-0616-6
Citation: Zhong-Qiang Wu and Yang Wang. Dynamic Consensus of High-order Multi-agent Systems and Its Application in the Motion Control of Multiple Mobile Robots. International Journal of Automation and Computing, vol. 9, no. 1, pp. 54-62, 2012. doi: 10.1007/s11633-012-0616-6
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