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Stability analysis for multi-agent systems using the incidence matrix: quantized communication and formation control. (English) Zbl 1193.93059
Summary: 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.

93A14 Decentralized systems
93C05 Linear systems in control theory
93D30 Lyapunov and storage functions
Full Text: DOI
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