Adaptive Consensus of Multi-Agent Systems With Unknown Identical Control Directions Based on A Novel Nussbaum-Type Function
Adaptive Consensus of Multi-Agent Systems With Unknown Identical Control Directions Based on A Novel Nussbaum-Type Function
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DOI：
10.1109/tac.2013.2293452
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发表时间：
2014-07
影响因子：
6.8
通讯作者：
Weisheng Chen;Xiaobo Li;W. Ren;C. Wen
中科院分区：
文献类型：
--
作者：
Weisheng Chen;Xiaobo Li;W. Ren;C. Wen
研究了具有未知同控制方向的一阶和二阶线性参数化多智能体系统的自适应一致性问题。首先，我们提出了一个新的Nussbaum型函数的基础上建立一个关键引理。引理在分析闭环多智能体系统的一致性问题中起着重要的作用。其次，利用努斯鲍姆型函数设计一阶和二阶线性参数化多智能体系统的自适应控制律，使每个智能体自适应、协作地寻找未知的控制方向。然后，在互连拓扑是无向连通的假设下，证明了一阶和二阶多智能体系统通过选择适当的设计参数可以实现一致性。两个仿真例子来说明所提出的控制律的有效性。
This note addresses the adaptive consensus problem of first-order and second-order linearly parameterized multi-agent systems with unknown identical control directions. First, we propose a new Nussbaum-type function based on which a key lemma is established. The lemma plays an important role in analyzing the consensus of the closed-loop multi-agent systems. Second, the Nussbaum-type function is used to design adaptive control laws for first-order and second-order linearly parameterized multi-agent systems so that each agent seeks for the unknown control direction adaptively and cooperatively. Then, under the assumption that the interconnection topology is undirected and connected, it is proved that the first-order and second-order multi-agent systems can achieve consensus by choosing proper design parameters. Two simulation examples are given to illustrate the effectiveness of the proposed control laws.