Consensus stability in multi-agent systems with periodically switched communication topology using Floquet theory

Mohammad Maadani, Eric A. Butcher

Research output: Contribution to journalArticlepeer-review

Abstract

The stability of consensus in linear and nonlinear multi-agent systems with periodically switched communication topology is studied using Floquet theory. The proposed strategy is illustrated for the cases of consensus in linear single-integrator, higher-order integrator, and leader-follower consensus. In addition, the application of Floquet theory in analyzing special cases such as switched systems with joint connectivity, unstable subsystems, and nonlinear systems, including the use of feedback linearization and local linearization in the Kuramoto model, is also studied. By utilizing Floquet theory for multi-agent systems with periodically switched communication topologies, one can simultaneously evaluate the effects of each subsystem’s convergence rate and dwell time on overall behavior. Numerical simulation results are presented to demonstrate the efficacy of the proposed approach in stability analysis of all these cases.

Original languageEnglish (US)
Pages (from-to)1239-1254
Number of pages16
JournalTransactions of the Institute of Measurement and Control
Volume43
Issue number5
DOIs
StatePublished - Mar 2021

Keywords

  • Floquet theory
  • consensus control
  • multi-agent systems
  • periodically switched systems

ASJC Scopus subject areas

  • Instrumentation

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