Adaptive Leader-Following Consensus of Multi-Agent Systems with Unknown Nonlinear Dynamics
This paper deals with the leader-following consensus of multi-agent systems with matched nonlinear dynamics. Compared with previous works, the major difficulty here is caused by the simultaneous existence of nonidentical agent dynamics and unknown system parameters, which are more practical in real-...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2014-09-01
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| Series: | Entropy |
| Subjects: | |
| Online Access: | http://www.mdpi.com/1099-4300/16/9/5020 |
| _version_ | 1811184894308515840 |
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| author | Junwei Wang Kairui Chen Qinghua Ma |
| author_facet | Junwei Wang Kairui Chen Qinghua Ma |
| author_sort | Junwei Wang |
| collection | DOAJ |
| description | This paper deals with the leader-following consensus of multi-agent systems with matched nonlinear dynamics. Compared with previous works, the major difficulty here is caused by the simultaneous existence of nonidentical agent dynamics and unknown system parameters, which are more practical in real-world applications. To tackle this difficulty, a distributed adaptive control law for each follower is proposed based on algebraic graph theory and algebraic Riccati equation. By a Lyapunov function method, we show that the designed control law guarantees that each follower asymptotically converges to the leader under connected communication graphs. A simulation example demonstrates the effectiveness of the proposed scheme. |
| first_indexed | 2024-04-11T13:21:13Z |
| format | Article |
| id | doaj.art-3a55ed46270b4ffc8e2a6bc5c5c36ba7 |
| institution | Directory Open Access Journal |
| issn | 1099-4300 |
| language | English |
| last_indexed | 2024-04-11T13:21:13Z |
| publishDate | 2014-09-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Entropy |
| spelling | doaj.art-3a55ed46270b4ffc8e2a6bc5c5c36ba72022-12-22T04:22:12ZengMDPI AGEntropy1099-43002014-09-011695020503110.3390/e16095020e16095020Adaptive Leader-Following Consensus of Multi-Agent Systems with Unknown Nonlinear DynamicsJunwei Wang0Kairui Chen1Qinghua Ma2Department of Applied Mathematics, Guangdong University of Foreign Studies, Guangzhou 510006, ChinaFaculty of Automation, Guangdong University of Technology, Guangzhou 510006, ChinaDepartment of Applied Mathematics, Guangdong University of Foreign Studies, Guangzhou 510006, ChinaThis paper deals with the leader-following consensus of multi-agent systems with matched nonlinear dynamics. Compared with previous works, the major difficulty here is caused by the simultaneous existence of nonidentical agent dynamics and unknown system parameters, which are more practical in real-world applications. To tackle this difficulty, a distributed adaptive control law for each follower is proposed based on algebraic graph theory and algebraic Riccati equation. By a Lyapunov function method, we show that the designed control law guarantees that each follower asymptotically converges to the leader under connected communication graphs. A simulation example demonstrates the effectiveness of the proposed scheme.http://www.mdpi.com/1099-4300/16/9/5020consensusmulti-agent systemsnonlinear agentsunknown nonlinear dynamicsadaptive control |
| spellingShingle | Junwei Wang Kairui Chen Qinghua Ma Adaptive Leader-Following Consensus of Multi-Agent Systems with Unknown Nonlinear Dynamics Entropy consensus multi-agent systems nonlinear agents unknown nonlinear dynamics adaptive control |
| title | Adaptive Leader-Following Consensus of Multi-Agent Systems with Unknown Nonlinear Dynamics |
| title_full | Adaptive Leader-Following Consensus of Multi-Agent Systems with Unknown Nonlinear Dynamics |
| title_fullStr | Adaptive Leader-Following Consensus of Multi-Agent Systems with Unknown Nonlinear Dynamics |
| title_full_unstemmed | Adaptive Leader-Following Consensus of Multi-Agent Systems with Unknown Nonlinear Dynamics |
| title_short | Adaptive Leader-Following Consensus of Multi-Agent Systems with Unknown Nonlinear Dynamics |
| title_sort | adaptive leader following consensus of multi agent systems with unknown nonlinear dynamics |
| topic | consensus multi-agent systems nonlinear agents unknown nonlinear dynamics adaptive control |
| url | http://www.mdpi.com/1099-4300/16/9/5020 |
| work_keys_str_mv | AT junweiwang adaptiveleaderfollowingconsensusofmultiagentsystemswithunknownnonlineardynamics AT kairuichen adaptiveleaderfollowingconsensusofmultiagentsystemswithunknownnonlineardynamics AT qinghuama adaptiveleaderfollowingconsensusofmultiagentsystemswithunknownnonlineardynamics |