Brief paper: Stability analysis for multi-agent systems using the incidence matrix: Quantized communication and formation control

  • Authors:

  • Dimos V. Dimarogonas;Karl H. Johansson

  • Affiliations:

  • Laboratory for Information and Decision Systems, Massachusetts Institute of Technology, Cambridge, MA 02139, USA;ACCESS Linnaeus Center, School of Electrical Engineering, Royal Institute of Technology, SE-100 44, Stockholm, Sweden

  • Venue:
  • Automatica (Journal of IFAC)
  • Year:
  • 2010

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Abstract

The spectral properties of the incidence matrix of the communication graph are exploited to provide solutions to two multi-agent control problems. In particular, we consider the problem of state agreement with quantized communication and the problem of distance-based formation control. In both cases, stabilizing control laws are provided when the communication graph is a tree. It is shown how the relation between tree graphs and the null space of the corresponding incidence matrix encode fundamental properties for these two multi-agent control problems.