Title :
Adaptive second-order leader-following consensus of nonlinear multi-agent systems with time-varying delay
Author :
Hongjie Li ; Lihua Xu ; Libin Xiao ; Li Lin
Author_Institution :
Coll. of Math. & Inf. & Eng., Jiaxing Univ., Jiaxing, China
fDate :
May 31 2014-June 2 2014
Abstract :
The paper investigates the second-order leader-following consensus problem of nonlinear multi-agent systems with time-varying delay. Based on graph theory and the neighbor-based coupling rule, the adaptive control strategy is proposed for the following agents to track the leader, the consensus condition is derived in terms of linear matrix inequalities, which can be easily solved by various convex optimization algorithms. It is worth noting that the interaction diagraph is not necessarily strongly connected or contains a directed spanning tree. Some simulation examples are provided to show the efficiency of the control scheme.
Keywords :
adaptive control; autonomous aerial vehicles; convex programming; delays; graph theory; linear matrix inequalities; multi-agent systems; multi-robot systems; time-varying systems; adaptive control strategy; adaptive second-order leader-following consensus; convex optimization algorithms; graph theory; linear matrix inequalities; multiple autonomous vehicles; neighbor-based coupling rule; nonlinear multiagent systems; time-varying delay; Adaptive control; Delays; Lead; Linear matrix inequalities; Multi-agent systems; Time-varying systems; Adaptive control; Linear matrix inequality (LMI); Multi-agent system; Second-order leader-following consensus;
Conference_Titel :
Control and Decision Conference (2014 CCDC), The 26th Chinese
Conference_Location :
Changsha
Print_ISBN :
978-1-4799-3707-3
DOI :
10.1109/CCDC.2014.6852181
