Admissible output consensus control for singular swarm systems

Abstract

For swarm systems consisting of agents described by high-order linear singular systems, admissible output consensus problems are investigated. By using observability decomposition and eigenvalue decomposition techniques, a sufficient condition for admissible output consensus and a necessary and sufficient condition for admissible limited control energy output consensus are obtained. Furthermore, it is shown that stabilisability of the agents is a sufficient condition for admissible output consensualisability, and an approach to solve the protocol design problem is presented. Finally, a numerical example is provided to demonstrate the effectiveness of protocol design approach.

Keywords:

• singular system
• swarm system
• admissible output consensus
• singular dynamic output consensus protocol

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Additional information

Funding

This work was supported by the National Natural Science Foundation of China [grant number 61174067], [grant number 61263002], [grant number 61374054]; Shanxi Province Natural Science Foundation Research Projection [grant number 2013JQ8038].

Notes on contributors

Fan-Lin Meng

Fanlin Meng was born in 1986 in Liaoning, China. He received the BE degree in control theory and application from Tsinghua University, Beijing, China in 2009. He is currently a doctoral student in the Department of Automation, Tsinghua University, Beijing, China. His research interests include consensus problems of swarm systems, formation control, and containment control for swarm systems.

Jian-Xiang Xi

Jianxiang Xi was born in 1982 in Gansu, China. He received the BS and MS degree from High-Tech Institute of Xi'an, Xi'an, China, in 2004 and 2007, respectively. He received the PhD degree in control science and engendering from High-Tech Institute of Xi'an, Xi'an, China, in 2012 by a coalition form with Tsinghua University. He is currently a lecturer in the Control Engendering Department of High-Tech Institute of Xi'an. His research interests include complex systems control, switched systems, and swarm systems.

Zong-Ying Shi

Zongying Shi received the BE degree in control theory and application, ME and PhD degrees in control engineering from Tsinghua University, Beijing, China, in 1992, 1994, and 2005, respectively. Since 1994, she has been with the Department of Automation, Tsinghua University, Beijing, China, where she is currently an associate professor. Her research interests include simultaneous localisation and mapping, multi-agent coordination control, and robust control for robots.

Yi-Sheng Zhong

Yisheng Zhong received the BE degree in control engineering from Harbin Institute of Technology, Harbin, China, in 1982, the ME degree in electronic engineering from the University of Electro-Communications, Tokyo, Japan, in 1985, and the PhD degree in electrical engineering from Hokkaido University, Sapporo, Japan, in 1988. He was a post-doctorate Scholar at Tsinghua University, Beijing, China, from 1989 to 1990, and since 1991, he has been with the Department of Automation, Tsinghua University, where he is currently a professor and also with the Tsinghua National Laboratory for Information Science and Technology. His research interests include robust control, nonlinear control, and electromechanical system control.