Designing a novel consensus protocol formultiagent systemswith general dynamics under directed networks

2017, Volume 18, Issue 8

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Frontiers of Information Technology & Electronic Engineering >> 2017, Volume 18, Issue 8 doi: 10.1631/FITEE.1601422

Designing a novel consensus protocol formultiagent systemswith general dynamics under directed networks

Aeronautics and Astronautics Engineering College, Air Force Engineering University, Xi’an 710038, China

Available online: 2017-10-31

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Abstract

The consensus problem for general linear multi-agent systems (MASs) under directed topology is investigated. First, a novel consensus protocol based on proportional-integral-derivative (PID) control is proposed. Second, the consensus problem is converted into an asymptotic stability problem through transformations. Third, through a state projection method the consensus condition is proved and the explicit expression of the consensus function is given. Then, a Lyapunov function is constructed and the gain matrices of the protocol are given based on the linear matrix inequality. Finally, two experiments are conducted to explain the advantages of the method. Simulation results show the effectiveness of the proposed algorithm.

Keywords

Multi-agent ; Consensus ; PID control ; Linear matrix inequality

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