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

  • 제17권9호
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  • Pages.857-862
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  • 2011
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  • 1976-5622(pISSN)
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  • 2233-4335(eISSN)
제어로봇시스템학회 (Institute of Control, Robotics and Systems)
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동일한 전달 행렬을 가지는 안정화 가능한 이종 시스템들의 출력 일치

Output Consensus of Non-identical and Stabilizable Linear Systems Having the Same Transfer Matrix

  • 김지수 (ASRI, 서울대학교 전기공학부) ;
  • 김홍근 (ASRI, 서울대학교 전기공학부) ;
  • 심형보 (ASRI, 서울대학교 전기공학부) ;
  • 백주훈 (광운대학교 로봇학부)
  • 투고 : 2011.07.08
  • 심사 : 2011.08.09
  • 발행 : 2011.09.01
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초록

This paper studies the output consensus problem for a class of heterogeneous linear multi-agent systems under a fixed directed communication network. The dynamics, as well as its dimension, of each agent can widely differ from the others, but all the agents are assumed to have the same transfer matrix. In addition, only the system outputs are constrained to be delivered through the network. Under these conditions, we show that the output consensus is reached by a group of identical controllers, which is designed to achieve the state consensus for the homogeneous multi-agent system obtained from the minimal realization of the transfer matrix. Finally, an example is given to demonstrate the proposed result.

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참고문헌

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피인용 문헌

  1. Formation Control Algorithm for Coupled Unicycle-Type Mobile Robots Through Switching Interconnection Topology vol.18, pp.5, 2012, https://doi.org/10.5302/J.ICROS.2012.18.5.439