Designing a novel consensus protocol for multiagent systems with general dynamics under directed networks

• Published in: Frontiers of information technology & electronic engineering 2017-08, Vol.18 (8), p.1071-1081
• Main Authors: Li, Hao-liang, Yang, Ren-nong, Li, Qiu-ni
• Format: Article
• Language: English
• Subjects: Algorithms; Asymptotic methods; Communication; Communications Engineering; Computer Hardware; Computer Science; Computer Systems Organization and Communication Networks; Control algorithms; Controllers; Electrical Engineering; Electronics and Microelectronics; Engineering; Instrumentation; Liapunov functions; Linear matrix inequalities; Linear systems; Mathematical analysis; Multiagent systems; Networks; Proportional integral derivative; Topology; 一致性协议; 动力学; 多agent系统; 多智能体系统; 有向网络; 李雅普诺夫函数; 线性矩阵不等式; 设计
• ISSN: 2095-9184; 2095-9230
• DOI: 10.1631/FITEE.1601422

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.