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

fYear

2014

fDate

May 31 2014-June 2 2014

Firstpage

402

Lastpage

407

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Control and Decision Conference (2014 CCDC), The 26th Chinese

Conference_Location

Changsha

Print_ISBN

978-1-4799-3707-3

Type

conf

DOI

10.1109/CCDC.2014.6852181

Filename

6852181