Distributed control gains design for consensus in multi-agent systems with second-order nonlinear dynamics
Distributed control gains design for consensus in multi-agent systems with second-order nonlinear dynamics
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DOI：
10.1016/j.automatica.2013.03.005
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发表时间：
2013-07
期刊：
影响因子：
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通讯作者：
Wenwu Yu;W. Ren;W. Zheng;Guanrong Chen;Jinhu Lu
中科院分区：
文献类型：
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作者：
Wenwu Yu;W. Ren;W. Zheng;Guanrong Chen;Jinhu Lu
讨论了具有二阶非线性动力学的多智能体系统的一致性分布控制增益的设计。首先，提出了一种有效的基于网络结构局部信息的分布式自适应增益设计策略。然后，研究了具有更新控制增益的多智能体系统中的领导者-追随者共识问题。然后，在每个follower是知情agent的情况下，基于相邻agent和leader的局部信息，提出了一个分布式自适应律。在此基础上，将变结构方法与自适应方法相结合，研究了具有未知非线性动力学的多智能体系统中的分布式leader-follower一致性问题。最后，通过仿真算例对理论分析进行了说明。
This paper discusses the design of distributed control gains for consensus in multi-agent systems with second-order nonlinear dynamics. First, an effective distributed adaptive gain-design strategy is proposed based only on local information of the network structure. Then, a leader–follower consensus problem in multi-agent systems with updated control gains is studied. A distributed adaptive law is then proposed for each follower based on local information of neighboring agents and the leader if this follower is an informed agent. Furthermore, a distributed leader–follower consensus problem in multi-agent systems with unknown nonlinear dynamics is investigated by combining the variable structure approach and the adaptive method. Finally, simulation examples are given to illustrate the theoretical analysis.