|제목(국문)||일차 다개체 시스템의 그룹 평균 상태일치와 그룹 대형 상태일치|
|제목(영문)||Group Average-consensus and Group Formation-consensus for First-order Multi-agent Systems|
박진배 (Park, Jin Bae ,Yonsei University ) ▷공저자네트워크등록하기
최윤호 (Yoon Ho Choi ,경기대학교 전자공학부 ) ▷공저자네트워크등록하기
This paper investigates the group average-consensus and group formation-consensus problems for first»order multi-agent systems. The control protocol for group consensus is designed by considering the positive adjacency elements. Since each intra-group Laplacian matrix cannot be satisfied with the in-degree balance because of the positive adjacency elements between groups, we decompose the Laplacian matrix into an intra-group Laplacian matrix and an inter-group Laplacian matrix. Moreover, average matrices are used in the control protocol to malyze the stability of multi-agent systems with a fixed and undirected communication topology. Using the graph theory and the Lyapunov functional, stability analysis is performed for group average-consensus md group formation-consensus, respectively. Finally, some simulation results 犯e presented to validate the effectiveness of the proposed control protocol for group consensus.
|keyword||group average-consensus, group forniation-consensus, graph theory, multi-agent systems, Laplacimi matrix|