Consensus Tracking of Nonlinear Agents Using Distributed Nonlinear Dynamic Inversion with Switching Leader-Follower Connection
In this paper, a consensus tracking protocol for nonlinear agents is presented, which is based on the Nonlinear Dynamic Inversion (NDI) technique. Implementation of such a technique is new in the context of the consensus tracking problem. The tracking capability of nonlinear dynamic inversion (NDI)...
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-12-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/22/23/9537 |
| _version_ | 1827642425946931200 |
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| author | Sabyasachi Mondal Antonios Tsourdos |
| author_facet | Sabyasachi Mondal Antonios Tsourdos |
| author_sort | Sabyasachi Mondal |
| collection | DOAJ |
| description | In this paper, a consensus tracking protocol for nonlinear agents is presented, which is based on the Nonlinear Dynamic Inversion (NDI) technique. Implementation of such a technique is new in the context of the consensus tracking problem. The tracking capability of nonlinear dynamic inversion (NDI) is exploited for a leader-follower multi-agent scenario. We have provided all the mathematical details to establish its theoretical foundation. Additionally, a convergence study is provided to show the efficiency of the proposed controller. The performance of the proposed controller is evaluated in the presence of both (a) random switching topology among the agents and (b) random switching of leader–follower connections, which is realistic and not reported in the literature. The follower agents track various trajectories generated by a dynamic leader, which describes the tracking capability of the proposed controller. The results obtained from the simulation study show how efficiently this controller can handle the switching topology and switching leader-follower connections. |
| first_indexed | 2024-03-09T17:32:05Z |
| format | Article |
| id | doaj.art-9c2e117c6b4242a9a76ec2fc039854d5 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-09T17:32:05Z |
| publishDate | 2022-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-9c2e117c6b4242a9a76ec2fc039854d52023-11-24T12:16:03ZengMDPI AGSensors1424-82202022-12-012223953710.3390/s22239537Consensus Tracking of Nonlinear Agents Using Distributed Nonlinear Dynamic Inversion with Switching Leader-Follower ConnectionSabyasachi Mondal0Antonios Tsourdos1School of Aerospace, Transport and Manufacturing (SATM), Cranfield University, Cranfield MK43 0AL, UKSchool of Aerospace, Transport and Manufacturing (SATM), Cranfield University, Cranfield MK43 0AL, UKIn this paper, a consensus tracking protocol for nonlinear agents is presented, which is based on the Nonlinear Dynamic Inversion (NDI) technique. Implementation of such a technique is new in the context of the consensus tracking problem. The tracking capability of nonlinear dynamic inversion (NDI) is exploited for a leader-follower multi-agent scenario. We have provided all the mathematical details to establish its theoretical foundation. Additionally, a convergence study is provided to show the efficiency of the proposed controller. The performance of the proposed controller is evaluated in the presence of both (a) random switching topology among the agents and (b) random switching of leader–follower connections, which is realistic and not reported in the literature. The follower agents track various trajectories generated by a dynamic leader, which describes the tracking capability of the proposed controller. The results obtained from the simulation study show how efficiently this controller can handle the switching topology and switching leader-follower connections.https://www.mdpi.com/1424-8220/22/23/9537consensus trackingdistributed nonlinear dynamic inversionleader–follower consensus |
| spellingShingle | Sabyasachi Mondal Antonios Tsourdos Consensus Tracking of Nonlinear Agents Using Distributed Nonlinear Dynamic Inversion with Switching Leader-Follower Connection Sensors consensus tracking distributed nonlinear dynamic inversion leader–follower consensus |
| title | Consensus Tracking of Nonlinear Agents Using Distributed Nonlinear Dynamic Inversion with Switching Leader-Follower Connection |
| title_full | Consensus Tracking of Nonlinear Agents Using Distributed Nonlinear Dynamic Inversion with Switching Leader-Follower Connection |
| title_fullStr | Consensus Tracking of Nonlinear Agents Using Distributed Nonlinear Dynamic Inversion with Switching Leader-Follower Connection |
| title_full_unstemmed | Consensus Tracking of Nonlinear Agents Using Distributed Nonlinear Dynamic Inversion with Switching Leader-Follower Connection |
| title_short | Consensus Tracking of Nonlinear Agents Using Distributed Nonlinear Dynamic Inversion with Switching Leader-Follower Connection |
| title_sort | consensus tracking of nonlinear agents using distributed nonlinear dynamic inversion with switching leader follower connection |
| topic | consensus tracking distributed nonlinear dynamic inversion leader–follower consensus |
| url | https://www.mdpi.com/1424-8220/22/23/9537 |
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