Abstract
This paper is concerned with hierarchical consensus for a group of agents with nonlinear passive dynamics. Our main idea of achieving consensus is to design the upper level interconnection so that passivity of subsystems is guaranteed by choosing the I/O of subsystems appropriately. We show that consensus can be achieved if the interconnection graph is strongly connected by constructing a Lyapnov function in the form of a weighted sum of storage functions for the subsystems. The result can be extended to an adaptive case for a class of unknown nonlinear systems. © 2011 SICE.
| Original language | English |
|---|---|
| Title of host publication | Proceedings of the SICE Annual Conference |
| Pages | 750-753 |
| Publication status | Published - 2011 |
| Externally published | Yes |
| Event | 50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011 - Tokyo, Japan Duration: 13 Sept 2011 → 18 Sept 2011 |
Conference
| Conference | 50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011 |
|---|---|
| Place | Japan |
| City | Tokyo |
| Period | 13/09/11 → 18/09/11 |
Research Keywords
- hierarchical system
- multi-agent
- nonlinear
- passivity
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