Observer-based consensus for nonlinear multi-agent systems with intermittent communication
Observer-based consensus for nonlinear multi-agent systems with intermittent communication
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基于观察者的间歇性通信非线性多智能体系统共识
DOI：
10.1016/j.neucom.2014.11.069
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发表时间：
2015-04
期刊：
影响因子：
6
通讯作者：
Chen, Zeng-qiang
中科院分区：
文献类型：
--
作者：
Qin, Wen;Liu, Zhong-xin;Chen, Zeng-qiang
研究了一类具有领导者的二阶非线性多智能体系统的一致性控制问题，其中领导者的速度不能真实的实时获得。在多个智能体只能在一系列不连续的时间间隔内与邻居通信的共同假设下，为每个智能体设计了一种新的基于邻居的基于观测器的一致性控制协议.利用多李雅普诺夫函数技术，在固定拓扑结构下，得到了跟随智能体能够同时跟踪领导者并与领导者保持同步的充分条件.此外，在开关拓扑下也得到了类似的结果。最后给出了数值算例。
The article studies a consensus control problem for second-order nonlinear multi-agent systems with a leader where the velocity of the active leader cannot be obtained in real time. Under the common assumption that the multiple agents can communicate with their neighbors only during a sequence of discontinuous time intervals, a new neighbour-based consensus control protocol based on observers is developed for each agent. With the help of multiple Lyapunov function technology, some sufficient conditions are derived such that the follower agents can track the leader and keep pace with the leader at the same time under fixed topology. Moreover, the similar results are given under the switching topology. Finally, numerical examples are presented for illustration.
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