TY - GEN
T1 - Efficient convergence rate analysis of multi-agent positive systems under formation control
AU - Ebihara, Yoshio
AU - Peaucelle, Dimitri
AU - Arzelier, Denis
N1 - Funding Information:
★ This work is supported in part by JSPS KAKENHI Grant Number 25420436.
Publisher Copyright:
© IFAC.
PY - 2014
Y1 - 2014
N2 - This paper addresses the formation control problem of multi-agent systems whose dynamics are all positive. Recently, as a byproduct of the analysis of interconnected positive systems, we have shown an effective way for designing a communication scheme (i.e., an interconnection matrix) over the positive agents so that a prescribed formation can be achieved. For the convergence rate analysis of such multi-agent positive systems under formation control, we propose an efficient algorithm to compute the dominant pole of interconnected positive systems by actively using the positive property of each agent. We illustrate by numerical examples that the proposed algorithm is definitely efficient particularly when the number of agents gets larger.
AB - This paper addresses the formation control problem of multi-agent systems whose dynamics are all positive. Recently, as a byproduct of the analysis of interconnected positive systems, we have shown an effective way for designing a communication scheme (i.e., an interconnection matrix) over the positive agents so that a prescribed formation can be achieved. For the convergence rate analysis of such multi-agent positive systems under formation control, we propose an efficient algorithm to compute the dominant pole of interconnected positive systems by actively using the positive property of each agent. We illustrate by numerical examples that the proposed algorithm is definitely efficient particularly when the number of agents gets larger.
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U2 - 10.3182/20140824-6-za-1003.00972
DO - 10.3182/20140824-6-za-1003.00972
M3 - Conference contribution
AN - SCOPUS:84929773637
T3 - IFAC Proceedings Volumes (IFAC-PapersOnline)
SP - 3790
EP - 3796
BT - 19th IFAC World Congress IFAC 2014, Proceedings
A2 - Boje, Edward
A2 - Xia, Xiaohua
PB - IFAC Secretariat
T2 - 19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014
Y2 - 24 August 2014 through 29 August 2014
ER -