13,660 research outputs found

    Adaptive consensus of multi-agents in networks with jointly connected topologies

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    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

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    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

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    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

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    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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