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Consensusability of discrete-time multi-agent systems via relative output feedback

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Consensusability of discrete-time multi-agent systems via relative output feedback

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Title: Consensusability of discrete-time multi-agent systems via relative output feedback
Author: You, Keyou; Xie, Lihua
Copyright year: 2010
Abstract: This paper investigates the joint effects of agent dynamic and network topology on the consensusability of linear discrete-time multi-agent systems via relative output feedback. An observer-based distributed control protocol is proposed. A necessary and sufficient condition for consensusability under this control protocol is given, which explicitly reveals how the intrinsic entropy rate of the agent dynamic and the eigenratio of the undirected communication graph affect consensusability. As a special case, the discrete-time double integrator system is discussed where a simple control protocol directly using the two-step relative position feedback is provided to reach a consensus. The theoretic results are illustrated by a simulation example.
Subject: DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation.
Type: Conference Paper
Conference name: Conference on Control, Automation, Robotics and Vision (11th : 2010 : Singapore)
School: School of Electrical and Electronic Engineering
Rights: © 2010 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. The published version is available at: [DOI: http://dx.doi.org/10.1109/ICARCV.2010.5707272].
Version: Accepted version

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