Adaptive consensus tracking for linear multi‐agent systems with heterogeneous unknown nonlinear dynamics

Abstract

Summary This paper considers the consensus tracking control problem for general linear multi‐agent systems with unknown dynamics in both the leader and all followers. Based on parameterizations of the unknown dynamics of all agents, two decentralized adaptive consensus tracking protocols, respectively, with dynamic and static coupling gains, are proposed to guarantee that the states of all followers converge to the state of the leader. Furthermore, this result is extended to the robust adaptive consensus tracking problem in which there exist parameter uncertainties and Lipschitz‐type disturbances in the network. It is also shown that the parameter estimation errors converge to zero based on contradiction method and Lyapunov function approach. Finally, a simulation example is provided to illustrate the theoretical results. Copyright © 2015 John Wiley & Sons, Ltd.

Adaptive robust consensus tracking for nonlinear second‐order multi‐agent systems with heterogeneous uncertainties

“…Proof of Part Motivated by , consider the following Lyapunov function candidate: where α is a positive scalar to be determined later. Then, the time derivative of along with the error dynamics can be obtained by …”

“…Remark The model in this paper takes parametric uncertainties, unmodeled dynamics, and external disturbances into consideration and can be considered an extension of those in the former integrator‐type systems in and the Lipschitz nonlinear systems in . In addition, instead of parameterizing the external disturbances linearly in , this paper considers a milder condition: the external disturbances are only assumed to be bounded. Thus, the model used in this paper is much closer to the real situation, resulting in more practical applications for real agents.…”

Distributed adaptive output feedback consensus tracking for multi-agent systems with unknown nonlinearities

“…Firstly, an observerbased dynamic adaptive consensus protocol is proposed with the relative output information which is more practical than the state-feedback one [23], and it is guaranteed that both the consensus tracking error and adaptive estimation error are uniformly ultimately bounded. Furthermore, as to the similar tracking problem with unknown nonlinearities in [19,20,22], this paper considers the general linear multiagent system including the first-, second-, and high-order integrators as its special cases.…”

“…In [22], by exactly linearly parameterizing the unknown nonlinearities, an adaptive consensus protocol with output information was designed for the double-integrator systems. In [23], the authors designed state-feedback consensus protocols with dynamic coupling gains for the linear multi-agent systems with unknown nonlinearities.…”

Adaptive Leader‐Following Consensus for Uncertain Nonlinear Multi‐Agent Systems

“…Recently, much attention has been devoted to the consensus of multi‐agent systems (see e.g. , and references therein), whose importance can be seen from its diverse applications, such as flocking , formation control , cooperative control of autonomous vehicles , and distributed sensor fusion in sensor networks . The remarkable feature of multi‐agent systems is the limited sensor and computational capability of the agents, and hence many problems of multi‐agent systems (such as consensus) are quite essential and don't exist as counterparts in traditional single‐agent systems.…”