DocumentCode :
2265286
Title :
Leader-follower consensus for high-order integrator systems with Lipschitz nonlinear dynamics
Author :
Qi, Wang ; Junjie, Fu ; Jinzhi, Wang
Author_Institution :
State Key Laboratory for Turbulence and Complex Systems, Department of Mechanics and Engineering Science, College of Engineering, Peking University, Beijing 100871, P.R. China
fYear :
2015
fDate :
28-30 July 2015
Firstpage :
7096
Lastpage :
7101
Abstract :
This paper considers the leader-follower consensus problem of multi-agent systems with Lipschitz nonlinear dynamics under directed communication topology. The state of the leader is only available to a subset of the followers and the input of the leader is nonzero and unknown to any of the follower. Based on relative states of neighboring agents, a distributed adaptive nonlinear protocol is proposed for each follower. It is proved that, for any directed communication graph that contains a spanning tree with the root node being the leader agent, the protocol ensures that the states of the followers converge to the state of the leader. Moreover coupling weights converge to some finite values. Compared with some existing results in the literature, the adaptive consensus protocols here can be implemented by each agent in a fully distributed fashion without using any global information. A simulation example is provided to illustrate the theoretical results.
Keywords :
Adaptive control; Couplings; Multi-agent systems; Nonlinear dynamical systems; Protocols; Topology; Adaptive control; Directed graph; High-order systems; Lipschitz nonlinearity; Multi-agent system;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Control Conference (CCC), 2015 34th Chinese
Conference_Location :
Hangzhou, China
Type :
conf
DOI :
10.1109/ChiCC.2015.7260762
Filename :
7260762
Link To Document :
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