Reduced-Order Consensus Protocols With Pure Relative Output: Design, Existence, and Dual Results

• 成果类型: Article
• 署名作者: Ma, Yuwen; Li, Xianwei; Li, Shaoyuan; Lin, Zongli
• 署名单位: Shanghai Jiao Tong University; Shanghai Jiao Tong University; University of Virginia
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2025.3549284
• 发表日期: 2025
• 关键词: multiagent systems; Sufficient conditions; Synchronization; feedback; observer; networks

摘要

This article studies reduced-order dynamic consensus protocols for homogeneous linear multiagent systems using pure relative output information. By applying H infinity control theory, a separation principle like method with an additional small-gain constraint is proposed for designing an (n(x)-n(u))th order protocol, where n(x )and n(u )are the numbers of states and inputs of each agent, respectively. Existence conditions for the protocol are then systematically discussed from the graph, low-gain and high-gain perspectives, respectively. It is revealed that the protocol always exists and can be found by the proposed design method for three cases: 1) directed acyclic networks; 2) agents with all eigenvalues in the closed left-half complex plane; 3) agents of minimum phase. Another reduced-order protocol of (n(x)-n(y))th order is further discussed through duality. Finally, a numerical example is provided to illustrate the effectiveness of the proposed method.