Distributed robust consensus control of multi-agent systems with heterogeneous matching uncertainties

This paper considers the distributed consensus problem of linear multi-agent systems subject to different matching uncertainties for both the cases without and with a leader of bounded unknown control input. Due to the existence of nonidentical uncertainties, the multi-agent systems discussed in thi...

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Veröffentlicht in:Automatica (Oxford) Jg. 50; H. 3; S. 883 - 889
Hauptverfasser: Li, Zhongkui, Duan, Zhisheng, Lewis, Frank L.
Format: Journal Article
Sprache:Englisch
Veröffentlicht: Kidlington Elsevier Ltd 01.03.2014
Elsevier
Schlagworte:
Adaptative systems
Adaptive control
Applied sciences
Computer science; control theory; systems
Computer systems and distributed systems. User interface
Consensus
Control theory. Systems
Distributed tracking
Exact sciences and technology
Multi-agent systems
Software
Uncertain systems
Uncertain systems
Distributed tracking
Adaptive control
Consensus
Multi-agent systems
Bounded control
Target tracking
Unknown input
Transmission protocol
Error bound
Distributed system
Adaptive method
Robust control
Uncertain system
Multiagent system
Linear system
Distributed control
Communication graph
Sensor array
Non directed graph
ISSN:0005-1098, 1873-2836
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Beschreibung
Zusammenfassung:This paper considers the distributed consensus problem of linear multi-agent systems subject to different matching uncertainties for both the cases without and with a leader of bounded unknown control input. Due to the existence of nonidentical uncertainties, the multi-agent systems discussed in this paper are essentially heterogeneous. For the case where the communication graph is undirected and connected, based on the local state information of neighboring agents, a fully distributed continuous adaptive consensus protocol is designed, under which the consensus error is uniformly ultimately bounded and exponentially converges to a small adjustable bounded set. For the case where there exists a leader whose control input is unknown and bounded, a distributed adaptive consensus protocol is proposed to ensure the boundedness of the consensus error. A sufficient condition for the existence of the proposed protocols is that each agent is stabilizable.
ISSN:0005-1098
1873-2836
DOI:10.1016/j.automatica.2013.12.008