A new consensus algorithm for multi-agent systems via decentralized dynamic output feedback

Guisheng Zhai, Shohei Okuno, Joe Imae, Tomoaki Kobayashi

Research output: Contribution to journalArticlepeer-review

21 Citations (Scopus)


In this paper, we study a consensus problem for multi-agent systems via dynamic output feedback control. The entire system is decentralized in the sense that each agent can only obtain output information from its neighbor agents. For practical purpose, we assume that actuator limitation exists, and require that the consensus be achieved among the agents at a specified convergence rate. By using an appropriate coordinate transformation, we reduce the consensus problem on hand to solving a strict matrix inequality, and then propose to use the homotopy based method for solving the matrix inequality. It turns out that our algorithm includes the existing graph Laplacian based algorithm as a special case.

Original languageEnglish
Pages (from-to)309-322
Number of pages14
JournalJournal of Intelligent and Robotic Systems: Theory and Applications
Issue number2
Publication statusPublished - 2011 Aug


  • Consensus algorithm
  • Decentralized dynamic output feedback
  • Graph Laplacian
  • Homotopy method
  • LMI
  • Matrix inequality
  • Multi-agent systems

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering
  • Artificial Intelligence


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