Efficient convergence rate analysis of multi-agent positive systems under formation control

Yoshio Ebihara, Dimitri Peaucelle, Denis Arzelier

Research output: Chapter in Book/Report/Conference proceedingConference contribution

6 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publication19th IFAC World Congress IFAC 2014, Proceedings
EditorsEdward Boje, Xiaohua Xia
PublisherIFAC Secretariat
Pages3790-3796
Number of pages7
ISBN (Electronic)9783902823625
DOIs
Publication statusPublished - 2014
Event19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014 - Cape Town, South Africa
Duration: Aug 24 2014Aug 29 2014

Publication series

NameIFAC Proceedings Volumes (IFAC-PapersOnline)
Volume19
ISSN (Print)1474-6670

Other

Other19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014
CountrySouth Africa
CityCape Town
Period8/24/148/29/14

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering

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  • Cite this

    Ebihara, Y., Peaucelle, D., & Arzelier, D. (2014). Efficient convergence rate analysis of multi-agent positive systems under formation control. In E. Boje, & X. Xia (Eds.), 19th IFAC World Congress IFAC 2014, Proceedings (pp. 3790-3796). (IFAC Proceedings Volumes (IFAC-PapersOnline); Vol. 19). IFAC Secretariat. https://doi.org/10.3182/20140824-6-za-1003.00972