Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Order Reduction Paradigm for Consensus of Neutrally Stable Multi-Agent Systems

중립적으로 안정한 다개체 시스템의 일치에 대한 제어기 차수 감소 패러다임

  • 김홍근 (ASRI, 서울대학교 전기공학부) ;
  • 김성준 (ASRI, 서울대학교 전기공학부) ;
  • 심형보 (ASRI, 서울대학교 전기공학부) ;
  • 백주훈 (광운대학교 로봇학부)
  • Published : 2010.03.01
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Abstract

In this paper we study the consensus problem of SISO (Single-Input Single-Output) linear multi-agent systems under a fixed weighted undirected network communication. The dynamics of each agent can be of any order, while it is constrained to be neutrally stable. Based on a simple root locus argument, we show that the problem at hand is always solvable if the gain and zeros of the dynamic compensator, of which dimension is the same as the number of plant poles on the imaginary axis, are chosen suitably, finally the result is successfully verified by an example.

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References

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