Periodically Switched Communication Topology in Multi-agent Consensus Control: Stability and Floquet Theory

Mohammad Maadani, Eric Butcher, Tansel Yucelen

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

The goal of this paper is to investigate stability of consensus control of linear multi-agent systems with periodically switched communication topologies. To this end, our contribution is to exploit Floquet theory as a main tool to investigate the stability of consensus problem for a switched system that consists of a set of linear time invariant subsystems and a periodic switching rule. The Lyapunov stability analysis for discrete-time systems is also discussed to confirm the results of utilizing Floquet theory. The simulation results are illustrated for the cases with single-integrator dynamics, double-integrator dynamics and leader-follower consensus problem.

Original languageEnglish (US)
Title of host publication2018 Annual American Control Conference, ACC 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages3792-3797
Number of pages6
Volume2018-June
ISBN (Print)9781538654286
DOIs
StatePublished - Aug 9 2018
Event2018 Annual American Control Conference, ACC 2018 - Milwauke, United States
Duration: Jun 27 2018Jun 29 2018

Other

Other2018 Annual American Control Conference, ACC 2018
CountryUnited States
CityMilwauke
Period6/27/186/29/18

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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    Maadani, M., Butcher, E., & Yucelen, T. (2018). Periodically Switched Communication Topology in Multi-agent Consensus Control: Stability and Floquet Theory. In 2018 Annual American Control Conference, ACC 2018 (Vol. 2018-June, pp. 3792-3797). [8431606] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.23919/ACC.2018.8431606