Adaptive Leader-Following Consensus of Multi-Agent Systems with Unknown Nonlinear Dynamics

Abstract

This paper deals with the leader-following consensus of multi-agent systems with matched nonlinear dynamics. Compared with previous works, the major difficulty here is caused by the simultaneous existence of nonidentical agent dynamics and unknown system parameters, which are more practical in real-world applications. To tackle this difficulty, a distributed adaptive control law for each follower is proposed based on algebraic graph theory and algebraic Riccati equation. By a Lyapunov function method, we show that the designed control law guarantees that each follower asymptotically converges to the leader under connected communication graphs. A simulation example demonstrates the effectiveness of the proposed scheme.

Distributed real-time non-linear receding horizon control methodology for multi-agent consensus problems

“…With their sophisticated structure, multi-agent related consensus problems have attracted significant interest in recent years. The complex nature and sophisticated framework of multi agent consensus problem serves as a fertile ground for the application of advanced control algorithms, and found basis in many areas including cooperative control, formation control, flocking and rendezvous [1,2,3,4,5,6,7,8,9,10,11,12,13].…”

Consensus of Discrete Multiagent System with Various Time Delays and Environmental Disturbances

“…For all kinds of difficulties appearing in the multiagent system, complex networks involved in synchronization of MAS is among the most significant ones since it is relatively inconvenient to model the exact structure. As a consequence, several entropy measurements have been introduced into the area of multiagent control to describe the property of networks recently [10][11][12]. In addition, coordination methods are also proposed from entropy view with measurements depicting characteristics of the MAS [13,14].…”

Distributed Consensus of Nonlinear Multi-Agent Systems on State-Controlled Switching Topologies

“…Over the past decade, many well-known results on consensus have been reported in [1][2][3][4][5][6][7], to name just a few. Based on algebraic graph theory, Olfati-Saber and Murray [1] discussed the consensus problem for networked single-integrator agents over directed fixed and switching topologies with communication time-delays.…”