Decentralized adaptive consensus of multi-agent in networks with switching topologies

被引：0
|
作者：
Yu, Hui [1 ]
Tu, Zhizhong [1 ]
Xia, Xiaohua [2 ]
Jian, Jigui [1 ]
Shen, Yanjun [1 ]
机构：
[1] China Three Gorges Univ, Coll Sci, Yichang 443002, Peoples R China
[2] Univ Pretoria, Dept Elect Elect & Comp Engn, Ctr New Energy Syst, ZA-0002 Pretoria, South Africa
来源：
11TH IEEE INTERNATIONAL CONFERENCE ON CONTROL AND AUTOMATION (ICCA) | 2014年
关键词：
MOBILE AUTONOMOUS AGENTS; MOTION COORDINATION; REFERENCE VELOCITY; SYSTEMS; LEADER; DELAYS;
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：
In this paper, the leader-following consensus problem of multi-agent is studied. A decentralized adaptive design method is presented for multi-agent systems with non-identical unknown nonlinear dynamics, and for a leader to be followed that is also nonlinear and unknown. By parameterizations of unknown nonlinear dynamics of all agents, a decentralized adaptive consensus algorithm is proposed for networks with switching topologies by using only relative position feedback of neighboring agents. Analysis of stability and parameter convergence of the proposed algorithm are conducted based on algebraic graph theory, Lyapunov theory and PE (Persistent Excitation) condition. Finally, an example is given to validate the theoretical results.
引用
收藏
页码：694 / 699
页数：6
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