Controlling identical linear multi-agent systems over directed graphs

Nicola Zaupa, Luca Zaccarian, Isabelle Queinnec, Sophie Tarbouriech, Giulia Giordano
12/26/2023
cs.MAmath.DS

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Abstract

We consider the problem of synchronizing a multi-agent system (MAS) composed of several identical linear systems connected through a directed graph.To design a suitable controller, we construct conditions based on Bilinear Matrix Inequalities (BMIs) that ensure state synchronization.Since these conditions are non-convex, we propose an iterative algorithm based on a suitable relaxation that allows us to formulate Linear Matrix Inequality (LMI) conditions.As a result, the algorithm yields a common static state-feedback matrix for the controller that satisfies general linear performance constraints.Our results are achieved under the mild assumption that the graph is time-invariant and connected.

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Cite this paper

@article{zaupa2023controlling,
  title  = {Controlling identical linear multi-agent systems over directed graphs},
  author = {Nicola Zaupa and Luca Zaccarian and Isabelle Queinnec and Sophie Tarbouriech and Giulia Giordano},
  year   = {2023},
  eprint = {2312.15929},
  archivePrefix = {arXiv},
  url    = {http://arxiv.org/abs/2312.15929v1}
}

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