Controller synthesis for reusable agents of consensus networks

Jing Wang, Nicola Elia

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

4 Scopus citations


We consider consensus problem over networks where each agent is modeled as a class of LTI systems. The objective is to make certain output of each agent converge to the (weighted) average of their initial conditions. To solve this consensus problem, we equip each plant with a local dynamic output-feedback controller. The system configuration allows us to decompose the networked system into subsystems characterized by the eigenvalues of Laplacian associated with the network topology. Having recognized that all the eigenvalues of Laplacian are bounded in a circle region, we cast each eigenvalue as an norm bounded uncertainty and use the robust control framework to evaluate the stability of each subsystem. We derive the sufficient condition to ensure that only the zero eigenvalue of Laplacian can touch the boundary of the circle. Based on that condition, we develop sufficient conditions to guarantee the marginal stability of the overall system, which allows us to use LMI approach to synthesize the controller and establish the convergence property of the system. Fianlly, we adopt a two-degree of freedom controller to improve the performance of the system as well as save the controller output energy.

Original languageEnglish (US)
Title of host publication1st IFAC Workshop on Estimation and Control of Networked Systems, NecSys'09
Number of pages6
EditionPART 1
StatePublished - Dec 1 2009
Externally publishedYes
Event1st IFAC Workshop on Estimation and Control of Networked Systems, NecSys'09 - Venice, Italy
Duration: Sep 24 2009Sep 26 2009

Publication series

NameIFAC Proceedings Volumes (IFAC-PapersOnline)
NumberPART 1
ISSN (Print)1474-6670


Other1st IFAC Workshop on Estimation and Control of Networked Systems, NecSys'09


  • Consensus
  • H∞ controller synthesis
  • Linear matrix inequality
  • Spectral localization of graph Laplacian


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