Necessary and sufficient conditions for consensus in third order multi-agent systems

Chi Huang, Guisheng Zhai, Gesheng Xu

研究成果: Article査読

25 被引用数 (Scopus)


We deal with a consensus control problem for a group of third order agents which are networked by digraphs. Assuming that the control input of each agent is constructed based on 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 real or complex coefficients. We show that by using Hurwitz polynomials with complex coefficients, a necessary and sufficient condition can be obtained for designing the consensus algorithm. Since the condition is both necessary and sufficient, we provide a kind of parametrization for all the weighting coefficients achieving consensus. Moreover, the condition is a natural extension to second order consensus, and is reasonable and practical due to its comparatively decreased computation burden. The result is also extended to the case where communication delay exists in the control input.

ジャーナルIEEE/CAA Journal of Automatica Sinica
出版ステータスPublished - 2018 11月

ASJC Scopus subject areas

  • 制御およびシステム工学
  • 情報システム
  • 人工知能


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