TY - JOUR
T1 - Distributed Consensus Algorithms for a Class of High-Order Multi-Agent Systems on Directed Graphs
AU - Abdessameud, Abdelkader
AU - Tayebi, Abdelhamid
N1 - Funding Information:
Manuscript received June 9, 2017; revised October 18, 2017; accepted January 11, 2018. Date of publication January 30, 2018; date of current version September 25, 2018. This work was supported by the Natural Sciences and Engineering Research Council of Canada. Recommended by Associate Editor K. Takaba. (Corresponding author: Abdelkader Ab-dessameud.) A. Abdessameud is with the School of Science, Engineering and Technology, Pennsylvania State University at Harrisburg, Middletown, PA 17057 USA (e-mail: aua472@psu.edu).
Publisher Copyright:
© 1963-2012 IEEE.
PY - 2018/10
Y1 - 2018/10
N2 - We consider the consensus problem of high-order multi-agent systems, described by multiple integrator dynamics, under general directed graphs. In contrast to the existing results, we propose a fully-distributed consensus algorithm, albeit employing static state feedback. Specifically, it is shown that, with a suitably designed similarity transformation, consensus is reached under only the necessary and sufficient condition of an interconnection graph having a spanning tree. The proposed approach relaxes some restrictive assumptions commonly considered in the available literature, such as imposing global gains in the network and/or exploiting additional information from neighboring agents other than their position-like states. In addition, the proposed approach enables the explicit determination of the final consensus state even in the presence of constant communication delays. Simulation results are provided to illustrate the effectiveness of the proposed approach.
AB - We consider the consensus problem of high-order multi-agent systems, described by multiple integrator dynamics, under general directed graphs. In contrast to the existing results, we propose a fully-distributed consensus algorithm, albeit employing static state feedback. Specifically, it is shown that, with a suitably designed similarity transformation, consensus is reached under only the necessary and sufficient condition of an interconnection graph having a spanning tree. The proposed approach relaxes some restrictive assumptions commonly considered in the available literature, such as imposing global gains in the network and/or exploiting additional information from neighboring agents other than their position-like states. In addition, the proposed approach enables the explicit determination of the final consensus state even in the presence of constant communication delays. Simulation results are provided to illustrate the effectiveness of the proposed approach.
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U2 - 10.1109/TAC.2018.2799520
DO - 10.1109/TAC.2018.2799520
M3 - Article
AN - SCOPUS:85041422843
SN - 0018-9286
VL - 63
SP - 3464
EP - 3470
JO - IRE Transactions on Automatic Control
JF - IRE Transactions on Automatic Control
IS - 10
M1 - 8272377
ER -