Adaptive guaranteed-performance consensus design for high-order multiagent systems

The current paper addresses the distributed guaranteed-performance consensus design problems for general high-order linear multiagent systems with leaderless and leader-follower structures, respectively. The information about the Laplacian matrix of the interaction topology or its minimum nonzero eigenvalue is usually required in existing works on the guaranteed-performance consensus, which means that their conclusions are not completely distributed. A new translation-adaptive strategy is proposed to realize the completely distributed guaranteed-performance consensus control by using the structure feature of a complete graph in the current paper. For the leaderless case, an adaptive guaranteed-performance consensualization criterion is given in terms of Riccati inequalities and a regulation approach of the consensus control gain is presented by linear matrix inequalities. Extensions to the leader-follower cases are further investigated. Especially, the guaranteed-performance costs for leaderless and leader-follower cases are determined, respectively, which are associated with the intrinsic structure characteristic of the interaction topologies. Finally, two numerical examples are provided to demonstrate theoretical results

Guaranteed-cost consensus for multiagent networks with Lipschitz nonlinear dynamics and switching topologies

Guaranteed-cost consensus for high-order nonlinear multi-agent networks with switching topologies is investigated. By constructing a time-varying nonsingular matrix with a specific structure, the whole dynamics of multi-agent networks is decomposed into the consensus and disagreement parts with nonlinear terms, which is the key challenge to be dealt with. An explicit expression of the consensus dynamics, which contains the nonlinear term, is given and its initial state is determined. Furthermore, by the structure property of the time-varying nonsingular transformation matrix and the Lipschitz condition, the impacts of the nonlinear term on the disagreement dynamics are linearized and the gain matrix of the consensus protocol is determined on the basis of the Riccati equation. Moreover, an approach to minimize the guaranteed cost is given in terms of linear matrix inequalities. Finally, the numerical simulation is shown to demonstrate the effectiveness of theoretical results.Comment: 16 page

Adaptive Guaranteed-Performance Consensus Control for Multiagent Systems With an Adjustable Convergence Speed

Adaptive guaranteed-performance consensus control problems for multi-agent systems are investigated, where the adjustable convergence speed is discussed. This paper firstly proposes a novel adaptive guaranteed-performance consensus protocol, where the communication weights can be adaptively regulated. By the state space decomposition method and the stability theory, sufficient conditions for guaranteed-performance consensus are obtained, as well as the guaranteed-performance cost. Moreover, since the convergence speed is usually adjusted by changing the algebraic connectivity in existing works, which increases the communication burden and the load of the controller, and the system topology is always given in practical applications, the lower bound of the convergence coefficient for multi-agent systems with the adaptive guaranteed-performance consensus protocol is deduced, which is linearly adjustable approximately by changing the adaptive control gain. Finally, simulation examples are introduced to demonstrate theoretical results