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 language | English (US) |
|---|---|
| Pages (from-to) | 1239-1254 |
| Number of pages | 16 |
| Journal | Transactions of the Institute of Measurement and Control |
| Volume | 43 |
| Issue number | 5 |
| DOIs | |
| State | Published - Mar 2021 |
| Externally published | Yes |
Keywords
- Floquet theory
- consensus control
- multi-agent systems
- periodically switched systems
ASJC Scopus subject areas
- Instrumentation