LMI conditions for topology preservation: applications to multi-agent tasks

Irinel-Constantin Morarescu (1) , Mirko Fiacchini (2)

1 CRAN - Centre de Recherche en Automatique de Nancy
2 GIPSA-SYSCO - GIPSA - Systèmes non linéaires et complexité

In this work we present several implementation strategies answering to different classical problems in multi-agent systems. The model under consideration consists of a discrete-time dynamics multi-agent system in which two agents are able to communicate when an algebraic relation between their states is satisfied. As emphasized in the literature, the connectivity of the communication network is essential for global coordination objectives. Thus, the primary goal of our methodology is to characterize the controllers that preserve a given topology allowing the global coordination. In a second step we choose the controller appropriated to the main agreement objective by solving a convex optimization problem associated to the minimization of a well-chosen cost function. Examples concerning full or partial consensus of agents with double integrator dynamics illustrate the implementation of the proposed methodology.

Mots clés: Multi-agent Systems; LMI; Consensus; Decentralized Control

Domaines: Systèmes dynamiques [math.DS]

Irinel-Constantin Morarescu, Mirko Fiacchini. LMI conditions for topology preservation: applications to multi-agent tasks. Journal of Control Engineering and Technology, 2014, 4 (3), pp.183-191. ⟨hal-01009619⟩