Second-order leader-following consensus of nonlinear multi-agent systems via pinning control
Second-order leader-following consensus of nonlinear multi-agent systems via pinning control
复制标题
基于钉扎控制的非线性多智能体系统二阶领导-跟随共识
DOI：
10.1016/j.sysconle.2010.06.016
复制
发表时间：
2010-09-01
影响因子：
2.6
通讯作者：
Yu, Wenwu
中科院分区：
文献类型：
--
作者：
Song, Qiang;Cao, Jinde;Yu, Wenwu
本文研究了具有一般网络拓扑的非线性多智能体系统的二阶先导-跟随一致性问题，在不假设交互图是强连通或包含有向生成树的情况下。基于图论、矩阵理论和LaSalle不变性原理，提出了一种针对具有非线性二阶动力学的智能体网络中领导者-跟随一致性的钉住控制算法。在此基础上，提出了具有恒定参考速度的耦合双积分器的钉住一致性协议。特别地，本文讨论了应该钉住什么样的智能体和钉住多少智能体，并建立了保证所有智能体都渐近跟随虚拟领导者的充分条件。通过数值模拟验证了理论分析的正确性。(C) 2010 Elsevier B.V.版权所有
Without assuming that the interaction diagraph is strongly connected or contains a directed spanning tree, this paper studies the second-order leader-following consensus problem of nonlinear multi-agent systems with general network topologies. Based on graph theory, matrix theory, and LaSalle's invariance principle, a pinning control algorithm is proposed to achieve leader-following consensus in a network of agents with nonlinear second-order dynamics. Furthermore, a pinning consensus protocol is developed for coupled double-integrators with a constant reference velocity. In particular, this paper addresses what kind of agents and how many agents should be pinned, and establishes some sufficient conditions to guarantee that all agents asymptotically follow the virtual leader. Numerical simulations are given to verify the theoretical analysis. (C) 2010 Elsevier B.V. All rights reserved.