Robust adaptive consensus tracking for higher‐order multi‐agent uncertain systems with nonlinear dynamics via distributed intermittent communication protocol

Abstract

This paper considers the robust adaptive consensus tracking for higher-order multi-agent uncertain systems with nonlinear dynamics via distributed intermittent communication protocol. The main contribution of this work is solving the robust consensus tracking problem without the assumption that the topology among followers is strongly connected and fixed. The focus is the problem of actuator with occasional failure inputs and communication resources constraints. A novel distributed intermittent communication framework is proposed via adaptive approach. In this framework, the underlying communication topologies switch among several directed graphs with a limited directed spanning tree rooted at a leader agent. Furthermore, by introducing a strategy of actuator fault compensation inputs, a combination of robust consensus tracking protocol is designed by the different adaptive feedback controllers. It is proved that the robust adaptive consensus tracking can be achieved by using local states information of neighboring agents if the communication retention rate condition is satisfied. Two examples are presented to demonstrate the effectiveness of the proposed approach.

Cooperative Control of Heterogeneous Uncertain Dynamical Networks: An Adaptive Explicit Synchronization Framework

“…More details about directed graph theory can be found in [37]. Before moving on, the following lemmas [38], [39] are introduced.…”

“…To realize the adaptive explicit synchronization, based on [27], [35], [36], [38], [45], a less dependency on the designed parameters of communication protocol is designed…”

“…where α is a positive scalar to be determined, (37), γ ∈ R and γ ≥ 3, and matrices P and S are positive definite solutions of LMIs (14) and (38), respectively. It follows from (46) that V is positive definite with respect to ξ i (t) and (c i − α) 2 …”

Consensus Problem of Markov Jump Multi-Agent Systems with Time-Varying Delay under Sampled-Data

“…In the past decade, the consensus problem of multi-agent systems has attracted a growing number of attention , which means that all the agents will eventually reach an agreement on certain quantities of interest, that is to say, the multiagent systems can achieve consensus. The consensus issue has a long-standing record, especially, since the simple multi-agent model proposed by Vicsek et al From then on, a large number of related research work emerged to abundant research data, see [1][2][3][4].…”

Task space consensus in networks of heterogeneous and uncertain robotic systems with variable time‐delays

“…The solutions to these problems have been widely studied for first and second-order linear time invariant systems [24][25][26][27][28]. Solutions for different nonlinear Euler-Lagrange (EL) systems in the generalized coordinates (joint space) are reported in [9,[29][30][31][32][33][34][35], and in [36][37][38][39], for a more general class of nonlinear systems. [1,6,30] present the solution to the the leader-follower case in the joint space, provided that the leader position is available to all the agents, and [9,29,40] propose solutions to the leader-follower case in which the leader position is available only to a subset of the followers.…”