Stability analysis for multi-agent systems using the incidence matrix: Quantized communication and formation control

作者：Dimarogonas Dimos V^*; Johansson Karl H

来源：Automatica, 2010, 46(4): 695-700.

DOI：10.1016/j.automatica.2010.01.012

• Multi-agent systems
• Formation control
• Quantized control
• Algebraic graph theory
• Networked control

The spectral properties of the incidence matrix of the communication graph are exploited to provide solutions to two multi-agent control problems. In particular, we consider the problem of state agreement with quantized communication and the problem of distance-based formation control. In both cases, stabilizing control laws are provided when the communication graph is a tree. It is shown how the relation between tree graphs and the null space of the corresponding incidence matrix encode fundamental properties for these two multi-agent control problems.

• 出版日期2010-4