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Frontiers of Information Technology & Electronic Engineering
ISSN 2095-9184 (print), ISSN 2095-9230 (online)
2017 Vol.18 No.8 P.1071-1081
Designing a novel consensus protocol for multiagent systems with general dynamics under directed networks
Abstract: The consensus problem for general linear multi-agent systems (MASs) under directed topology is investigated. First, a novel consensus protocol based on proportional-integral-derivative (PID) control is proposed. Second, the consensus problem is converted into an asymptotic stability problem through transformations. Third, through a state projection method the consensus condition is proved and the explicit expression of the consensus function is given. Then, a Lyapunov function is constructed and the gain matrices of the protocol are given based on the linear matrix inequality. Finally, two experiments are conducted to explain the advantages of the method. Simulation results show the effectiveness of the proposed algorithm.
Key words: Multi-agent, Consensus, PID control, Linear matrix inequality
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DOI:
10.1631/FITEE.1601422
CLC number:
TP13
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On-line Access:
2017-09-08
Received:
2016-07-16
Revision Accepted:
2016-11-17
Crosschecked:
2017-08-01