Novel distributed robust adaptive consensus protocols for linear multi-agent systems with directed graphs and external disturbances

被引：92

作者：

Lv, Yuezu ^{[1
]}

Li, Zhongkui ^{[1
]}

Duan, Zhisheng ^{[1
]}

Feng, Gang ^{[2
]}

机构：

[1] Peking Univ, Dept Mech & Engn Sci, Coll Engn, State Key Lab Turbulence & Complex Syst, Beijing, Peoples R China

[2] City Univ Hong Kong, Dept Mech & Biomed Engn, Hong Kong, Hong Kong, Peoples R China

来源：

INTERNATIONAL JOURNAL OF CONTROL | 2017年 / 90卷 / 02期

基金：

中国国家自然科学基金;

关键词：

Multi-agent systems; cooperative control; consensus; distributed control; adaptive control; robustness; NONLINEAR DYNAMICS; OUTPUT-FEEDBACK; STATE-FEEDBACK; NETWORKS; DESIGN; SYNCHRONIZATION;

D O I：

10.1080/00207179.2016.1172259

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper addresses the distributed consensus protocol design problem for linear multi-agent systems with directed graphs and external unmatched disturbances. Novel distributed adaptive consensus protocols are proposed to achieve leader-follower consensus for any directed graph containing a directed spanning tree with the leader as the root node and leaderless consensus for strongly connected directed graphs. It is pointed out that the adaptive protocols involve undesirable parameter drift phenomenon when bounded external disturbances exist. By using the s modification technique, distributed robust adaptive consensus protocols are designed to guarantee the ultimate boundedness of both the consensus error and the adaptive coupling weights in the presence of external disturbances. All the adaptive protocols in this paper are fully distributed, relying on only the agent dynamics and the relative states of neighbouring agents.

引用

页码：153 / 163

页数：11

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