Fully Distributed Consensus Tracking of Stochastic Nonlinear Multiagent Systems With Markovian Switching Topologies via Intermittent Control

This paper mainly addresses the distributed consensus tracking problem for second-order nonlinear multiagent systems with a specified reference trajectory. The dynamics of each follower consists of two terms: nonlinear inherent dynamics and a simple communication protocol relying only on the position and velocity information of its neighbors. The consensus reference is taken as a virtual leader, whose output is only its position and velocity information that is available to only a subset of a group of followers. To achieve consensus tracking, a class of nonsmooth control protocols is proposed which reply on the relative information among the neighboring agents. Then some corresponding sufficient conditions are derived. It is shown that if the communication graph associated with the virtual leader and followers is connected at each time instant, the consensus can be achieved at least globally exponentially with the proposed protocol. Rigorous proofs are given by using graph theory, matrix theory, and Lyapunov theory. Finally, numerical examples are presented to illustrate the theoretical analysis.

Download Full-text

Distributed consensus tracking for nonlinear multiagent systems with a high-dimensional leader and intermittent communications

2017 International Workshop on Complex Systems and Networks (IWCSN) ◽

10.1109/iwcsn.2017.8276495 ◽

2017 ◽

Author(s):

Lina Shen ◽

Wenwu Yu ◽

Peijun Wang

Keyword(s):

Multiagent Systems ◽

High Dimensional ◽

Distributed Consensus ◽

Consensus Tracking ◽

Intermittent Communications

Download Full-text

Consensus Tracking of Multiagent Systems with Time-Varying Reference State and Exogenous Disturbances

Mathematical Problems in Engineering ◽

10.1155/2014/213862 ◽

2014 ◽

Vol 2014 ◽

pp. 1-7

Author(s):

Hong-yong Yang ◽

Hai-lin Zou ◽

Hui-xia Liu ◽

Fei Liu ◽

Mei Zhao ◽

...

Keyword(s):

Multiagent Systems ◽

Tracking Control ◽

Path Following ◽

Reference State ◽

Time Varying ◽

Switching Topologies ◽

Consensus Tracking ◽

Exogenous Disturbance ◽

Exogenous Disturbances ◽

Path Following Algorithm

The tracking control of multiagent dynamical systems with exogenous disturbances is studied. A path following algorithm with a time-varying reference state is proposed, and the path tracking of multiagent systems with exogenous disturbance is analyzed. Under the influence of the disturbances, a disturbance observer is developed to estimate the exogenous disturbances. Asymptotical consensus of the multiagent systems with time-varying reference state and exogenous disturbances under the disturbance observers-based control (DOBC) can be achieved for fixed and switching topologies. Finally, by applying an example of multiagent systems with switching topologies and exogenous disturbances, the consensus tracking of multiagent systems with time-varying reference state is reached under the DOBC with the designed parameters.

Download Full-text