Adaptive leader-following consensus of nonlinear multi-agent systems with jointly connected topology

Author

Kairui Chen ; Junwei Wang ; Yun Zhang

Author_Institution

Fac. of Autom., Guangdong Univ. of Technol., Guangzhou, China

fYear

2015

fDate

23-25 May 2015

Firstpage

50

Lastpage

54

Abstract

This paper studies the leader-following consensus problem of general multi-agent systems, in which dynamics of all agents are affected by unknown nonlinear dynamics. By parameterizing the unknown nonlinear terms, a distributed adaptive consensus algorithm is proposed for each follower agent. With a modified labeling rule, consensus analysis is conducted for the multi-agent systems with jointly connected topology based on algebraic graph theory and Lyapunov theory. Finally, a simulation example is provided to validate the theoretical results.

Keywords

Lyapunov methods; adaptive control; algebra; distributed control; graph theory; multi-agent systems; nonlinear dynamical systems; Lyapunov theory; adaptive leader-following consensus; algebraic graph theory; consensus analysis; distributed adaptive consensus algorithm; general multiagent systems; jointly connected topology; labeling rule; leader-following consensus problem; nonlinear multiagent systems; unknown nonlinear dynamics; Labeling; Multi-agent systems; Network topology; Nonlinear dynamical systems; Protocols; Switches; Topology; Adaptive control; Consensus; Jointly connected topology; Multi-agent systems; Nonlinear dynamics;

fLanguage

English

Publisher

ieee

Conference_Titel

Control and Decision Conference (CCDC), 2015 27th Chinese

Conference_Location

Qingdao

Print_ISBN

978-1-4799-7016-2

Type

conf

DOI

10.1109/CCDC.2015.7161665

Filename

7161665