Decentralized design of leader-following consensus protocols for asymmetric matrix-weighted heterogeneous multiagent systems

TL;DR

This paper presents a decentralized method for designing leader-following consensus protocols in heterogeneous multiagent systems with asymmetric weights, using minimal communication links and a linear transformation approach.

Contribution

It introduces a novel decentralized design framework for consensus protocols leveraging DST-based transformations and extends it to utilize all neighbor information.

Findings

Successfully designed protocols with minimal communication links.

Extended the approach to utilize all neighbor information.

Validated the methods through numerical simulations.

Abstract

This paper investigates a decentralized design approach of leader-following consensus protocols for heterogeneous multiagent systems under a fixed communication topology with a directed spanning tree (DST) and asymmetric weight matrix. First, a control protocol using only the information of the neighbor on the DST of each agent is designed, which is called the consensus protocol with minimal communication links. Particularly, the DST-based linear transformation method is used to transform the consensus problem into a partial variable stability problem of a corresponding system, and a decentralized design method is proposed to find the gain matrices in the protocols. Next, the decentralized design approach is extended to the protocols using all neighbor information in the original communication topology with the help of the matrix diagonally dominant method. Some numerical simulations are given to illustrate the theoretical results.