471 research outputs found
Consensus of Multi-Agent Systems with General Linear and Lipschitz Nonlinear Dynamics Using Distributed Adaptive Protocols
This paper considers the distributed consensus problems for multi-agent
systems with general linear and Lipschitz nonlinear dynamics. Distributed
relative-state consensus protocols with an adaptive law for adjusting the
coupling weights between neighboring agents are designed for both the linear
and nonlinear cases, under which consensus is reached for all undirected
connected communication graphs. Extensions to the case with a leader-follower
communication graph are further studied. In contrast to the existing results in
the literature, the adaptive consensus protocols here can be implemented by
each agent in a fully distributed fashion without using any global information.Comment: 15 pages, 6 figures, submitted to IEEE TA
Designing Fully Distributed Consensus Protocols for Linear Multi-agent Systems with Directed Graphs
This paper addresses the distributed consensus protocol design problem for
multi-agent systems with general linear dynamics and directed communication
graphs. Existing works usually design consensus protocols using the smallest
real part of the nonzero eigenvalues of the Laplacian matrix associated with
the communication graph, which however is global information. In this paper,
based on only the agent dynamics and the relative states of neighboring agents,
a distributed adaptive consensus protocol is designed to achieve
leader-follower consensus for any communication graph containing a directed
spanning tree with the leader as the root node. The proposed adaptive protocol
is independent of any global information of the communication graph and thereby
is fully distributed. Extensions to the case with multiple leaders are further
studied.Comment: 16 page, 3 figures. To appear in IEEE Transactions on Automatic
Contro
Similarity Decomposition Approach to Oscillatory Synchronization for Multiple Mechanical Systems With a Virtual Leader
This paper addresses the oscillatory synchronization problem for multiple
uncertain mechanical systems with a virtual leader, and the interaction
topology among them is assumed to contain a directed spanning tree. We propose
an adaptive control scheme to achieve the goal of oscillatory synchronization.
Using the similarity decomposition approach, we show that the position and
velocity synchronization errors between each mechanical system (or follower)
and the virtual leader converge to zero. The performance of the proposed
adaptive scheme is shown by numerical simulation results.Comment: 15 pages, 3 figures, published in 2014 Chinese Control Conferenc
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