Dynamic consensus of high-order multi-agent systems and its application in the motion control of multiple mobile robots

Abstract

In this paper, the leader-following consensus problem for multi-agent linear dynamic systems is considered. All agents and leader have identical multi-input multi-output (MIMO) linear dynamics that can be of any order, and only the output information of each agent is delivered throughout the communication network. When the interaction topology is fixed, the leader-following consensus is attained by H∞ dynamic output feedback control, and the sufficient condition of robust controllers is equal to the solvability of linear matrix inequality (LMI). The whole analysis is based on spectral decomposition and an equivalent decoupled structure achieved, and the stability of the system is proved. Finally, we extended the theoretical results to the case that the interaction topology is switching. The simulation results for multiple mobile robots show the effectiveness of the devised methods.

Distributed robust consensus control for nonlinear leader–follower multi-agent systems based on adaptive observer-based sliding mode

“…Multi-agent systems (MASs) consist of a number of agents that are linked together by sharing the information via a communication topology and can be used to solve challenging problems which are difficult to solve (or impossible) for an individual agent (Ren and Cao, 2010). In recent years MASs have attracted considerable attention due to a wide range of applications as sensor networks (Liang et al., 2012; Villarrubia et al., 2017), satellite formation flying (Ahn, 2012), mobile robots (Wang et al., 2014b; Wu and Wang, 2012), air traffic management (Breil et al., 2017), and so on (Chen et al., 2013; Wang et al., 2014a).…”

RETRACTED: High-order iterative learning consensus tracking of nonlinear multi-agent systems with time-varying delays

“…In the past 10 years, the problem of cooperative control for multi-agent systems has been paid increasing attention because of its widespread application in spacecraft (Xu et al, 2005), sensor networks (Shakshuki et al, 2009), multiple robots (Wu and Wang, 2012) and unmanned aerial vehicles (Zhu et al, 2013) and so forth. The fundamental problem of cooperative control is consensus.…”

Consensus Problem of Heterogeneous Multi-agent Systems with Time Delay under Fixed and Switching Topologies

“…Up to now, there has been much research on consensus problem of first-order [1−6] , second-order [7−19] , and highorder [20,21] multi-agent systems with identical agents dynamics. In some practical situations, however, the agent of multi-agent systems has different dynamics for various constraints.…”