Stability analysis for multi-agent systems using the incidence matrix: Quantized communication and formation control

The spectral properties of the incidence matrix of the communication graph are exploited to provide solutions to two multiagent 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.

• Type: Journal
• Year: 2010
• Where: AUTOMATICA
• Authors: Dimos V. Dimarogonas, Karl Henrik Johansson
• Keywords: AUTOMATICA 2010, Communication Graph, Control Problems, Incidence Matrix