Robust Redesign of Distributed Adaptive Consensus Protocols for Linear Multi-agent Systems

被引：0
|
作者：
Li, Zhongkui [1 ]
机构：
[1] Peking Univ, Coll Engn, Dept Mech & Engn Sci, State Key Lab Turbulence & Complex Syst, Beijing 100871, Peoples R China
来源：
2014 11TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION (WCICA) | 2014年
基金：
中国国家自然科学基金;
关键词：
Multi-agent systems; consensus; robustness; adaptive control; SYNCHRONIZATION; NETWORKS; DESIGN;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper revisits the distributed adaptive consensus protocols proposed in [1], [2]. It is shown that under the adaptive protocols in [1], [2] the parameter drift phenomenon takes place when external disturbances are present, implying that those adaptive protocols are not robust with respect to external disturbances. By using the sigma modification technique, distributed robust adaptive protocols are designed, which can guarantee the ultimate boundedness of both the consensus error and the adaptive gains in the presence of bounded disturbances. The upper bounds of the consensus error are further derived. Simulation examples are finally presented for illustration.
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页码：204 / 209
页数：6
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