TY - GEN
T1 - An algebraic approach to designing consensus algorithm of networked high dimensional agents
AU - Huang, Chi
AU - Zhai, Guisheng
AU - Xu, Gesheng
N1 - Funding Information:
This research has been supported in part by the Japan Ministry of Education, Sciences and Culture under Grants-in-Aid for Scientific Research (C) 21560471. It has been jointly supported by the Research Project Supported by Shanxi Scholarship Council of China under Grant 2015-044, the Fundamental Research Project of Shanxi Province under Grant 2015021085.
Publisher Copyright:
© 2017 Technical Committee on Control Theory, CAA.
PY - 2017/9/7
Y1 - 2017/9/7
N2 - In this paper, we deal with a consensus control problem for a group of high dimensional agents which are networked by digraphs. Assuming that the control input of each agent is constructed based on the weighted difference between its states and those of its neighbor agents, we aim to propose an algorithm on computing the weighting coefficients in the control input. The problem is reduced to designing Hurwitz polynomials with complex coefficients. Focusing on the case of three dimensional systems, we show that by using Hurwitz polynomials with complex coefficients, we obtain a necessary and sufficient condition for the consensus algorithm. The condition is a natural extension to second order consensus, and is reasonable and practical due to its comparatively less computation burden. Two numerical examples show effectiveness of the proposed condition and the consensus algorithm.
AB - In this paper, we deal with a consensus control problem for a group of high dimensional agents which are networked by digraphs. Assuming that the control input of each agent is constructed based on the weighted difference between its states and those of its neighbor agents, we aim to propose an algorithm on computing the weighting coefficients in the control input. The problem is reduced to designing Hurwitz polynomials with complex coefficients. Focusing on the case of three dimensional systems, we show that by using Hurwitz polynomials with complex coefficients, we obtain a necessary and sufficient condition for the consensus algorithm. The condition is a natural extension to second order consensus, and is reasonable and practical due to its comparatively less computation burden. Two numerical examples show effectiveness of the proposed condition and the consensus algorithm.
KW - Hurwitz polynomials with complex coefficients
KW - Networked high dimensional agents
KW - consensus algorithm
KW - graph Laplacian
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U2 - 10.23919/ChiCC.2017.8028670
DO - 10.23919/ChiCC.2017.8028670
M3 - Conference contribution
AN - SCOPUS:85032207538
T3 - Chinese Control Conference, CCC
SP - 8293
EP - 8298
BT - Proceedings of the 36th Chinese Control Conference, CCC 2017
A2 - Liu, Tao
A2 - Zhao, Qianchuan
PB - IEEE Computer Society
T2 - 36th Chinese Control Conference, CCC 2017
Y2 - 26 July 2017 through 28 July 2017
ER -