Adaptive consensus of multi-agents in networks with jointly connected topologies

被引：240
作者：
Yu, Hui [1 ,2 ]
Xia, Xiaohua [2 ]
机构：
[1] China Three Gorges Univ, Coll Sci, Yichang 443002, Peoples R China
[2] Univ Pretoria, Dept Elect Elect & Comp Engn, Ctr New Energy Syst, ZA-0002 Pretoria, South Africa
来源：
AUTOMATICA | 2012年 / 48卷 / 08期
关键词：
Consensus; Adaptive control; Parameter convergence; Jointly connected topology; Multi-agent systems; MOBILE AUTONOMOUS AGENTS; MOTION COORDINATION; REFERENCE VELOCITY; SYSTEMS; LEADER; DELAYS;
D O I：
10.1016/j.automatica.2012.05.068
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, the consensus problem of multi-agent following a leader is studied. An adaptive design method is presented for multi-agent systems with non-identical unknown nonlinear dynamics, and for a leader to be followed that is also nonlinear and unknown. By parameterizations of unknown nonlinear dynamics of all agents, a decentralized adaptive consensus algorithm is proposed in networks with jointly connected topologies by incorporating local consensus errors in addition to relative position feedback. Analysis of stability and parameter convergence of the proposed algorithm are conducted based on algebraic graph theory and Lyapunov theory. Finally, examples are provided to validate the theoretical results. (c) 2012 Elsevier Ltd. All rights reserved.
引用
收藏
页码：1783 / 1790
页数：8
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