Flocking of Multi-agent Systems with Unknown Nonlinear Dynamics and Heterogeneous Virtual Leader

2021 ◽  
Author(s):  
Tingruo Yan ◽  
Xu Xu ◽  
Zongying Li ◽  
Eric Li
Keyword(s):  
Nonlinear Dynamics ◽  
Multi Agent Systems ◽  
Agent Systems ◽  
Multi Agent ◽  
Virtual Leader ◽  
Unknown Nonlinear Dynamics

Active disturbance rejection consensus control of uncertain high-order nonlinear multi-agent systems

2019 ◽  
Vol 42 (3) ◽  
pp. 604-617
Author(s):  
Maopeng Ran ◽  
Qing Wang ◽  
Chaoyang Dong
Keyword(s):  
Nonlinear Dynamics ◽  
Control Method ◽  
High Order ◽  
Multi Agent Systems ◽  
Extended State ◽  
Consensus Control ◽  
Total Uncertainty ◽  
Agent Systems ◽  
Multi Agent ◽  
Unknown Nonlinear Dynamics

In this paper, we consider the consensus control problem for uncertain high-order nonlinear multi-agent systems in a leader-follower scheme. Each follower node is modeled by a high-order integrator incorporating with unmeasurable states and unknown nonlinear dynamics. First, the total uncertainty that lumps the unknown nonlinear dynamics and the mismatch of control is viewed as an extended state of the agent. By using local information from neighborhood set, a distributed extended state observer (ESO) is designed to estimate not only the unmeasurable agent states but also its total uncertainty. Then, based on the output of the ESO, a novel consensus control law is proposed, in which the total uncertainty is canceled out in the feedback loop in real time. We show that, with the application of the proposed approach, the ESO estimation errors and the disagreement error vectors between the leader and the followers can be made arbitrarily small. A simulation example is given to illustrate the effectiveness of the proposed consensus control method.

Adaptive Consensus of High Order Multi-Agent Systems with Unknown Nonlinear Dynamics

2013 ◽  
Vol 275-277 ◽  
pp. 2654-2658
Author(s):  
Yi Zhang ◽  
Hui Yu ◽  
Gao Yang Liu
Keyword(s):  
Nonlinear Dynamics ◽  
High Order ◽  
Lyapunov Theory ◽  
Multi Agent Systems ◽  
Consensus Algorithms ◽  
Agent Systems ◽  
Multi Agent ◽  
Analysis Of Stability ◽  
Riccati Inequalities ◽  
Unknown Nonlinear Dynamics

In this paper, high order consensus problem of multi-agent systems with non-identical unknown nonlinear dynamics following an unknown and nonlinear leader is investigated in networks with fixed and switching topologies. By parameterizations of unknown nonlinear dynamics of agents in the system, neighbor-based adaptive consensus algorithms are proposed by incorporating consensus errors in addition to relative position feedback. Base on algebraic graph theory, Lyapunov theory, Riccati inequalities and PE condition, analysis of stability and parameter convergence of the proposed algorithm are conducted. Finally, a simulation in switching networks is worked out to illustrate the effectiveness of the theoretical results.

Adaptive Coordination Control of Multi-Agent Systems with Switching Topologies and Unknown Nonlinear Dynamics

2013 ◽  
Vol 278-280 ◽  
pp. 1413-1416
Author(s):  
Gao Yang Liu ◽  
Hui Yu ◽  
Yi Zhang
Keyword(s):  
Nonlinear Dynamics ◽  
Stability Analysis ◽  
Convergence Analysis ◽  
Lyapunov Theory ◽  
Consensus Algorithm ◽  
Multi Agent Systems ◽  
Agent Systems ◽  
Leader Following ◽  
Multi Agent ◽  
Unknown Nonlinear Dynamics

In this paper, we study the leader-following adaptive consensus problem for multi-agent systems with unknown nonlinear dynamics. The topologies of the networks are switching. A novel adaptive consensus algorithm is proposed by using linear parameterizations of unknown nonlinear dynamics of all agents. By stability analysis and parameter convergence analysis of the proposed algorithm, adaptive consensus can be realized based on neighboring graphs. The stability analysis is based on algebraic graph theory and Lyapunov theory, the PE condition plays a key role in parameter convergence analysis. Example is given to validate the theoretical results.

Finite-time consensus of heterogeneous unknown nonlinear multi-agent systems with external disturbances via event-triggered control

2020 ◽  
pp. 107754632094834
Author(s):  
Mehdi Zamanian ◽  
Farzaneh Abdollahi ◽  
Seyyed Kamaleddin Yadavar Nikravesh
Keyword(s):  
Nonlinear Dynamics ◽  
Finite Time ◽  
Small Region ◽  
Multi Agent Systems ◽  
External Disturbances ◽  
Agent Systems ◽  
Control Scheme ◽  
Multi Agent ◽  
Unknown Nonlinear Dynamics ◽  
Event Triggered

This article investigates the practical finite-time consensus for a class of heterogeneous multi-agent systems composed of first-order and second-order agents with heterogeneous unknown nonlinear dynamics and external disturbances in an undirected communication topology. To reduce the system updates, we propose an event-triggered approach. By defining auxiliary states, an adaptive distributed event-triggered control is designed to achieve practical finite-time consensus. Unknown nonlinear dynamics for each agent are estimated using radial basis function neural network. The stability of the overall closed-loop system is studied through the Lyapunov criterion. It is proven that by applying the proposed control scheme, the local neighbor position error and the velocity error between any two agents converge to a small region in finite time. Furthermore, it is shown that the Zeno behavior is ruled out. Finally, applicability and effectiveness of the proposed control scheme is verified and validated by two examples.

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