Distributed Observer Type Protocol for Flocking of Linear Second-Order Multi-Agent Systems Subject to External Disturbance

This paper studies the leader–follower flocking of multi-agent systems for the linear second-order dynamics, subject to the external disturbance problem. It is assumed that the dynamic of the leader is Lipschitz-type. Also, the velocity is the output of the system, and full-state information is not available for feedback. A distributed full-order observer is employed to estimate every agent's states and external disturbance. A control protocol for each agent is designed based on the measurement of its output/velocity and relative velocity of its neighbors. Under the proposed protocol, the velocity convergence of whole agents to the velocity of the virtual leader is guaranteed as well as the connectivity of network and collision avoidance among agents are ensured. Finally, a simulation example is provided to show the effectiveness of the results.

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Consensus Tracking of Nonlinear Second-Order Multi-Agent Systems with External Disturbance

2017 4th International Conference on Information Science and Control Engineering (ICISCE) ◽

10.1109/icisce.2017.193 ◽

2017 ◽

Author(s):

Danyang Geng ◽

Qinghe Wu ◽

Changkun Du

Keyword(s):

External Disturbance ◽

Second Order ◽

Multi Agent Systems ◽

Agent Systems ◽

Consensus Tracking ◽

Multi Agent

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Second-order consensus for a class of uncertain multi-agent systems subject to input saturation

Transactions of the Institute of Measurement and Control ◽

10.1177/0142331218791237 ◽

2018 ◽

Vol 41 (7) ◽

pp. 1957-1964 ◽

Cited By ~ 6

Author(s):

Ming-Can Fan ◽

Miaomiao Wang

Keyword(s):

A Priori ◽

Input Saturation ◽

Second Order ◽

Control Technique ◽

Control Input ◽

Multi Agent Systems ◽

State Information ◽

Agent Systems ◽

Barbalat’S Lemma ◽

Multi Agent

This paper investigates the leaderless and leader-following consensus problem for a class of second-order multi-agent systems subject to input saturation, that is, the control input is required to be a priori bounded. Moreover, the control coefficients are assumed to be unavailable, which cannot be lower or upper bounded by any known constants. Distributed consensus protocols are proposed based only on agents’ own velocity state information and relative position state information among neighbouring agents and the leader. By virtue of the adaptive control technique, algebraic graph theory and Barbalat’s lemma, it is proved that the states of the multi-agent systems can achieve consensus under the assumption that the interconnection topology is undirected and connected. Finally, two simulation examples are provided to illustrate the effectiveness of the theoretical results.

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Rotating consensus tracking for second-order multi-agent systems with external disturbances

Transactions of the Institute of Measurement and Control ◽

10.1177/0142331217734040 ◽

2018 ◽

Vol 40 (13) ◽

pp. 3604-3616 ◽

Cited By ~ 1

Author(s):

Dandan Zhang ◽

Guangren Duan

Keyword(s):

Relative Velocity ◽

Second Order ◽

Direct Access ◽

Control Technique ◽

Multi Agent Systems ◽

Velocity Measurements ◽

External Disturbances ◽

Agent Systems ◽

Consensus Tracking ◽

Multi Agent

In this paper, the rotating consensus tracking problem for second-order multi-agent systems with external disturbances in three-dimensional space is considered. It is assumed that only a subset of the agents is given direct access to the desired trajectory information. Based on a backstepping control technique, a distributed adaptive rotating consensus protocol, driving all followers to track the leader, is developed for the case when both the relative position and relative velocity measurements are available for feedback. Moreover, the proposed control protocol design method is also extended to the case that the relative velocities are not measured. Through Lyapunov stability analysis, it is shown that, under the proposed control protocols, all followers can track the leader rotating around a common point with and without relative velocity measurements. Simulation results are included to demonstrate the effectiveness of our schemes.

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