Leader-following Consensus for Second-order Nonlinear Multi-agent Systems Under Markovian Switching Topologies with Application to Ship Course-keeping

被引：19
|
作者：
Wang, Chuanrui [1 ]
Yan, Chuanxu [1 ,2 ]
Liu, Zhenchong [1 ]
机构：
[1] Shanghai Zhongchuan SDT NERC Co Ltd, Shanghai 200011, Peoples R China
[2] Marine Design & Res Inst China, Shanghai 200011, Peoples R China
来源：
INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS | 2021年 / 19卷 / 01期
关键词：
Distributed control; Markovian switching topology; multi-agent system; nonlinear system; ship course-keeping; ADAPTIVE-CONTROL; TRACKING CONTROL;
D O I：
10.1007/s12555-019-0395-8
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The leader-following consensus problem for a class of second-order nonlinear multi-agent systems under Markovian switching topologies is studied. First, a discontinuous distributed adaptive nonlinear control law using the relative state information between neighboring agents is designed for heterogeneous multi-agent systems, which achieves almost sure leader-following consensus for the closed-loop system. Then, a smooth distributed control law is designed for homogeneous multi-agent systems. Compared with previous results, the nonlinear functions are not required to satisfy the globally Lipschitz condition and the adaptive consensus protocol is in a distributed fashion, i.e., using only the relative information. A practical example of ship course control system and simulation are provided to demonstrate the effectiveness of the control scheme.
引用
收藏
页码：54 / 62
页数：9
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