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

Mohammad Maadani; Eric A. Butcher; Tansel Yucelen

doi:10.23919/ACC.2018.8431606

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

Mohammad Maadani, Eric A. Butcher, Tansel Yucelen

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

1 Scopus citations

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 language	English (US)
Title of host publication	2018 Annual American Control Conference, ACC 2018
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	3792-3797
Number of pages	6
ISBN (Print)	9781538654286
DOIs	https://doi.org/10.23919/ACC.2018.8431606
State	Published - Aug 9 2018
Event	2018 Annual American Control Conference, ACC 2018 - Milwauke, United States Duration: Jun 27 2018 → Jun 29 2018

Publication series

Name	Proceedings of the American Control Conference
Volume	2018-June
ISSN (Print)	0743-1619

Other

Other	2018 Annual American Control Conference, ACC 2018
Country/Territory	United States
City	Milwauke
Period	6/27/18 → 6/29/18

ASJC Scopus subject areas

Electrical and Electronic Engineering

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10.23919/ACC.2018.8431606

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

Periodically Switched Communication Topology in Multi-agent Consensus Control: Stability and Floquet Theory. / Maadani, Mohammad; Butcher, Eric A.; Yucelen, Tansel.
2018 Annual American Control Conference, ACC 2018. Institute of Electrical and Electronics Engineers Inc., 2018. p. 3792-3797 8431606 (Proceedings of the American Control Conference; Vol. 2018-June).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Maadani, M, Butcher, EA & Yucelen, T 2018, Periodically Switched Communication Topology in Multi-agent Consensus Control: Stability and Floquet Theory. in 2018 Annual American Control Conference, ACC 2018., 8431606, Proceedings of the American Control Conference, vol. 2018-June, Institute of Electrical and Electronics Engineers Inc., pp. 3792-3797, 2018 Annual American Control Conference, ACC 2018, Milwauke, United States, 6/27/18. https://doi.org/10.23919/ACC.2018.8431606

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AB - 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.

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

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