Group Consensus Control for Multi-agent Systems with Group-distributed Switching Topologies and Group-distributed Event-triggered Mechanism
Pages 35 - 40
Abstract
Group consensus of multi-agent systems is studied in this paper. Group-distributed switching topologies and group-distributed event-triggered mechanism are proposed. The Laplacian matrix of the system is decomposed to two special matrices, and one of them can be used to transform the group consensus problem into a stability problem at zero point. The dynamic of agents is a linear model with high order. By constructing the measurement state vector, measurement error vector, and utilizing linear matrix inequations as well as Lyapunov stability theory, the control inputs proposed is verified to lead the multi-agent system to group consensus. Simulation is carried out on a system consisting two subgroups, and the effectiveness and correctness of the method is demonstrated.
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Published: 22 June 2021
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RobCE 2021
RobCE 2021: 2021 International Conference on Robotics and Control Engineering
April 22 - 25, 2021
Tokyo, Japan
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