Consensus control of nonlinear leader-follower multi-agent systems with actuating disturbances

被引：47
|
作者：
Wang, Xinghu [1 ]
Xu, Dabo [2 ]
Hong, Yiguang [1 ]
机构：
[1] Chinese Acad Sci, Inst Syst Sci, Key Lab Syst & Control, Beijing 100190, Peoples R China
[2] Nanjing Univ Sci & Technol, Sch Automat, Nanjing 210094, Jiangsu, Peoples R China
来源：
SYSTEMS & CONTROL LETTERS | 2014年 / 73卷
关键词：
Multi-agent systems; Disturbances; Distributed control; Networked control; SYNCHRONIZATION; TRACKING;
D O I：
10.1016/j.sysconle.2014.09.004
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 studies a semi-global asymptotic consensus problem of nonlinear multi-agent systems with local actuating disturbances. For a modest nonlinear scenario, a consensus protocol is proposed based on a viable two-layer network. The consensus problem is treated as distributed output regulation, which is resolved by a joint decomposition of the zero-error constraint inputs and a configuration of a flexible internal model network. An illustrative example is also given to show the efficiency of the two-layer networked design. (C) 2014 Elsevier B.V. All rights reserved.
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页码：58 / 66
页数：9
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