标题：Protocol design for output consensus of port-controlled Hamiltonian multi-agent systems
作者：Li Changsheng;Wang Yuzhen
作者机构：[Li, C.-S] School of Control Science and Engineering, Shandong University, Jinan 250061, China, Department of Information Science and Technology, Tais 更多
通讯作者地址：[Li, C.-S] School of Control Science and Engineering, Shandong University, Jinan 250061, China;
关键词：Consensus; Control design; Hamiltonian systems; Multi-agent
摘要：This paper investigates the output consensus problem of port-controlled Hamiltonian (PCH) multi-agent systems with both fixed and switching topologies. Firstly, a distributed group output consensus protocol is designed via the energy shaping method to reach globally stability and group output consensus. Secondly, a new distributed control protocol is proposed by using the structural properties of the PCH systems. The advantage of this protocol is that it can transform the directed graph to the undirected graph by constructing a kind of virtual neighbors. Thirdly, a control protocol is designed with the extended LaSalle's invariance principle developed for switched systems under the jointly connected topology condition to make all the agents reach output consensus when the topology is switching. Finally, some illustrative examples with simulations are provided to demonstrate the effectiveness of the protocols designed in this paper. Copyright © 2014 Acta Automatica Sinica. All rights reserved.