13,660 research outputs found
Adaptive consensus of multi-agents in networks with jointly connected topologies
In this paper, the consensus problem of multi-agent following a leader is studied. An adaptive design method is presented for
multi-agent systems with non-identical unknown nonlinear dynamics, and for a leader to be followed that is also nonlinear and
unknown. By parameterizations of unknown nonlinear dynamics of all agents, a decentralized adaptive consensus algorithm is
proposed in networks with jointly connected topologies by incorporating local consensus errors in addition to relative position
feedback. Analysis of stability and parameter convergence of the proposed algorithm are conducted based on algebraic graph
theory and Lyapunov theory. Finally, examples are provided to validate the theoretical results.http://www.elsevier.com/locate/automaticahb2016Electrical, Electronic and Computer Engineerin
Adaptive leaderless consensus of agents in jointly connected networks
In this paper, the leaderless consensus problem of multi-agent systems with
jointly connected topologies and nonlinear dynamics is considered, in which
the nonlinear dynamics are assumed to be non-identical and unknown. The
unknown nonlinear dynamics existing in the systems are assumed to be linearly
parameterized, and an adaptive design method for leaderless multiagent
systems is presented. By just using the relative position information
between each agent and its neighbours, a distributed adaptive consensus control
algorithm for the considered systems is proposed, in which the network
graphs are jointly connected. Both the global uniform asymptotical stability
and the global uniform asymptotical parameter convergence analysis of the
adaptive control algorithm are carried out by using adaptive control theory,
Lyapunov theory and algebraic graph theory. Finally, an example is given to
illustrate the validity of our theoretical results.The National Natural Science Foundation
(NNSF) of China (61273183, 61374028 and 61304162).http://www.elsevier.com/locate/neucom2018-06-30hb2017Electrical, Electronic and Computer Engineerin
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 this paper are
essentially heterogeneous. For the case where the communication graph is
undirected and connected, a distributed continuous static consensus protocol
based on the relative state information is first designed, under which the
consensus error is uniformly ultimately bounded and exponentially converges to
a small adjustable residual set. A fully distributed adaptive consensus
protocol is then designed, which, contrary to the static protocol, relies on
neither the eigenvalues of the Laplacian matrix nor the upper bounds of the
uncertainties. For the case where there exists a leader whose control input is
unknown and bounded, distributed static and adaptive consensus protocols are
proposed to ensure the boundedness of the consensus error. It is also shown
that the proposed protocols can be redesigned so as to ensure the boundedness
of the consensus error in the presence of bounded external disturbances which
do not satisfy the matching condition. A sufficient condition for the existence
of the proposed protocols is that each agent is stabilizable.Comment: 16 page, 10 figures. This manuscript is an extended version of our
paper accepted for publication by Automatic
Distributed Adaptive Fault-Tolerant Control of Uncertain Multi-Agent Systems
This paper presents an adaptive fault-tolerant control (FTC) scheme for a
class of nonlinear uncertain multi-agent systems. A local FTC scheme is
designed for each agent using local measurements and suitable information
exchanged between neighboring agents. Each local FTC scheme consists of a fault
diagnosis module and a reconfigurable controller module comprised of a baseline
controller and two adaptive fault-tolerant controllers activated after fault
detection and after fault isolation, respectively. Under certain assumptions,
the closed-loop system's stability and leader-follower consensus properties are
rigorously established under different modes of the FTC system, including the
time-period before possible fault detection, between fault detection and
possible isolation, and after fault isolation
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