Consensus control of nonlinear leader–follower multi-agent systems with actuating disturbances

Wang, Xinghu; Xu, Dabo; Ye, Hong

doi:10.1016/j.sysconle.2014.09.004

Cited by 54 publications

(33 citation statements)

References 27 publications

(63 reference statements)

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“…On the other hand, when the mechanical and electromagnetic losses are neglected, ie, the output electrical powers of generators are equal to the input mechanical powers of turbines, the dynamics of generation systems are first‐order linear systems after feedback linearization (see the work of Guo et al for details). Besides, the following disturbance is added to the generation system

i \in scriptV

, which was widely used (see other works):

d_{i} false(t false) = a_{i} \sin ((), w_{i} t + c_{i}),

where a i ,w i , c i are the parameters of the disturbance. Furthermore, we can rewrite as the form of with

C = false[1 0 false], S = ([], \begin{matrix} centerarray \\ array 0 & array {normalw}_{i} \\ array - {normalw}_{i} & array 0 \end{matrix})

, and

w_{i} false(0 false) = ([], \begin{matrix} centerarray \\ array a_{i} \sin c_{i} \\ array a_{i} \cos c_{i} \end{matrix}) .

…”

Section: Simulationsmentioning

confidence: 99%

Distributed algorithm design for aggregative games of disturbed multiagent systems over weight‐balanced digraphs

Deng

Nian

2018

Intl J Robust & Nonlinear

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Summary In this paper, an aggregative game of multiagent systems over weight‐balanced digraphs is studied, where the decisions of all players are coupled by linear constraints. Different from the well‐known aggregative games, the dynamics of players are disturbed first‐order linear systems in our problem. In order to seek the variational generalized Nash equilibrium (GNE) of the game, a distributed algorithm is developed via gradient descent, internal model, and dynamic average consensus, where the gradient is for seeking the variational GNE, the internal model is for rejecting the exogenous disturbances, and the dynamic average consensus is for estimating the aggregate of the decisions of all players. The exponential convergence of the algorithm to the variational GNE is analyzed by constructing suitable Lyapunov functions. Finally, the effectiveness of our method is illustrated via two examples.

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i \in scriptV

, which was widely used (see other works):

d_{i} false(t false) = a_{i} \sin ((), w_{i} t + c_{i}),

where a i ,w i , c i are the parameters of the disturbance. Furthermore, we can rewrite as the form of with

C = false[1 0 false], S = ([], \begin{matrix} centerarray \\ array 0 & array {normalw}_{i} \\ array - {normalw}_{i} & array 0 \end{matrix})

, and

w_{i} false(0 false) = ([], \begin{matrix} centerarray \\ array a_{i} \sin c_{i} \\ array a_{i} \cos c_{i} \end{matrix}) .

…”

Section: Simulationsmentioning

confidence: 99%

Distributed algorithm design for aggregative games of disturbed multiagent systems over weight‐balanced digraphs

Deng

Nian

2018

Intl J Robust & Nonlinear

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show abstract

“…Remark The exogenous nonlinear disturbance has been dealt with in many papers such as . In Assumption , the nonlinear disturbance term f i ( x i , v i , t ) in the follower vehicle system and the leader vehicle system involves the position x i ( t ) and velocity v i ( t ) simultaneously.…”

Section: Model Description and Problem Formulationmentioning

confidence: 99%

Distributed adaptive control for vehicular platoon with unknown dead‐zone inputs and velocity/acceleration disturbances

Guo

Wang

Liao

et al. 2016

Intl J Robust & Nonlinear

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Summary This paper is focused on designing a distributed adaptive control scheme for a vehicular platoon with unknown bounded velocity/acceleration disturbances and unknown nonlinear dead‐zone inputs. Our aim is to design distributed adaptive controllers based on integral sliding mode control techniques that guarantee practical exponential convergence (i.e., exponential stability of an arbitrarily small neighborhood of zero) of the spacing errors and the string stability of the whole vehicular platoon. The contributions of this paper are that: (i) based on a modified constant time headway policy, the whole vehicular platoon is guaranteed to have string stability despite dead zone inputs; (ii) adaptive compensation terms are constructed to compensate for the time‐variant effects caused by unknown bounded velocity/acceleration disturbances, and unknown dead zone inputs; (iii) an efficient numerical method for avoiding the singularity problem of the control law is also proposed. Numerical simulation results show the validity and advantages of the proposed method are significantly higher traffic density and string stability. Copyright © 2016 John Wiley & Sons, Ltd.

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“…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.…”

Section: Introductionmentioning

confidence: 99%

“…Mainly due to this, various distributed protocols, rather than centralized ones, have been designed to solve the consensus problem of multi‐agent systems (see e.g. , and for linear and nonlinear multi‐agent systems, respectively).…”

Section: Introductionmentioning

confidence: 99%

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

Niu

Liu

Man

2017

Asian Journal of Control

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This paper is concerned with the adaptive leader‐following consensus for first‐ and second‐order uncertain nonlinear multi‐agent systems (NMASs) with single‐ and double‐integrator leader, respectively. Remarkably, the control coefficients of the followers need not belong to any known finite interval, which makes the systems in question essentially different from those in the related works. Moreover, parameterized unknowns exist in the nonlinearities of the followers, and unknown control input is imposed on the leader, which make the problems difficult to solve. To compensate for these uncertainties/unknowns, the leader‐following consensus protocols are constructed by employing adaptive technique for the first‐order and the second‐order NMASs. Under the designed adaptive consensus protocols and the connected graph, the leader‐following consensus is achieved. Finally, two examples are given to show the effectiveness of the proposed leader‐following consensus protocols.

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Consensus control of nonlinear leader–follower multi-agent systems with actuating disturbances

Cited by 54 publications

References 27 publications

Distributed algorithm design for aggregative games of disturbed multiagent systems over weight‐balanced digraphs

Distributed algorithm design for aggregative games of disturbed multiagent systems over weight‐balanced digraphs

Distributed adaptive control for vehicular platoon with unknown dead‐zone inputs and velocity/acceleration disturbances

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

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