Journal
AUTOMATICA
Volume 48, Issue 9, Pages 2335-2343Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.automatica.2012.06.041
Keywords
Output consensus; High-order; Swarm system; Partial stability
Funding
- National Natural Science Foundation of China [61174067, 60736024]
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Output consensus analysis and design problems for high-order linear time-invariant swarm systems with directed interaction topologies are investigated. Firstly, as foundations of our approaches, several conclusions about partial stability are given. Then, two subspaces of the output space of swarm systems, namely an output consensus subspace and a complement output consensus subspace, are introduced. Based on output projection onto the two subspaces and partial stability, necessary and/or sufficient conditions for output consensus and limited-control-energy consensus are proposed respectively, an explicit expression of the output consensus function is presented based on the different contributions of initial states of agents and protocols, and an approach independent of the number of agents is shown to determine the gain matrices of output consensus protocols. Finally, a numerical example is given to demonstrate the theoretical results. (C) 2012 Elsevier Ltd. All rights reserved.
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