Decentralized design of leader-following consensus protocols for asymmetric matrix-weighted heterogeneous multiagent systems
This work addresses consensus control in multiagent systems, which is incremental as it builds on existing methods by handling asymmetric weights and heterogeneous agents.
The paper tackles the problem of designing decentralized leader-following consensus protocols for heterogeneous multiagent systems with asymmetric matrix weights and directed spanning tree topologies, proposing a method that achieves consensus using minimal communication links and extends to full neighbor information.
This paper investigates a decentralized design approach of leader-following consensus protocols for heterogeneous multiagent systems under a fixed communication topology with a directed spanning tree (DST) and asymmetric weight matrix. First, a control protocol using only the information of the neighbor on the DST of each agent is designed, which is called the consensus protocol with minimal communication links. Particularly, the DST-based linear transformation method is used to transform the consensus problem into a partial variable stability problem of a corresponding system, and a decentralized design method is proposed to find the gain matrices in the protocols. Next, the decentralized design approach is extended to the protocols using all neighbor information in the original communication topology with the help of the matrix diagonally dominant method. Some numerical simulations are given to illustrate the theoretical results.