Periodic Intermittent Adaptive Control with Saturation for Pinning Quasi-Consensus of Heterogeneous Multi-Agent Systems with External Disturbances
A periodic intermittent adaptive control method with saturation is proposed to pin the quasi-consensus of nonlinear heterogeneous multi-agent systems with external disturbances in this paper. A new periodic intermittent adaptive control protocol with saturation is designed to control the internal co...
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MDPI AG
2023-08-01
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| Online Access: | https://www.mdpi.com/1099-4300/25/9/1266 |
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| author | Bin Du Quan Xu Junfu Zhang Yi Tang Lei Wang Ruihao Yuan Yu Yuan Jiaju An |
| author_facet | Bin Du Quan Xu Junfu Zhang Yi Tang Lei Wang Ruihao Yuan Yu Yuan Jiaju An |
| author_sort | Bin Du |
| collection | DOAJ |
| description | A periodic intermittent adaptive control method with saturation is proposed to pin the quasi-consensus of nonlinear heterogeneous multi-agent systems with external disturbances in this paper. A new periodic intermittent adaptive control protocol with saturation is designed to control the internal coupling between the follower agents and the feedback gain between the leader and the follower. In particular, we use the saturation adaptive law: when the quasi-consensus error converges to a certain range, the adaptive coupling edge weight and the adaptive feedback gain will not be updated. Furthermore, we propose three saturated adaptive pinning control protocols. The quasi-consensus is achieved through its own pinning as long as the agents remain connected to each other. Using the Lyapunov function method and inequality technique, the convergence range of the quasi-consensus error of a heterogeneous multi-agent system is obtained. Finally, the rationality of the proposed control protocol is verified through numerical simulation. Theoretical derivation and simulation results show that the novel proposed periodic intermittent adaptive control method with saturation can successfully be used to achieve the pinning of quasi-consensus of nonlinear heterogeneous multi-agent systems. |
| first_indexed | 2024-03-10T22:47:38Z |
| format | Article |
| id | doaj.art-c32d371e51e1463db5bcb41053255815 |
| institution | Directory Open Access Journal |
| issn | 1099-4300 |
| language | English |
| last_indexed | 2024-03-10T22:47:38Z |
| publishDate | 2023-08-01 |
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| series | Entropy |
| spelling | doaj.art-c32d371e51e1463db5bcb410532558152023-11-19T10:35:13ZengMDPI AGEntropy1099-43002023-08-01259126610.3390/e25091266Periodic Intermittent Adaptive Control with Saturation for Pinning Quasi-Consensus of Heterogeneous Multi-Agent Systems with External DisturbancesBin Du0Quan Xu1Junfu Zhang2Yi Tang3Lei Wang4Ruihao Yuan5Yu Yuan6Jiaju An7School of Mechanical Engineering, Xihua University, Chengdu 610039, ChinaSchool of Mechanical Engineering, Xihua University, Chengdu 610039, ChinaSchool of Mechanical Engineering, Xihua University, Chengdu 610039, ChinaSchool of Mechanical Engineering, Xihua University, Chengdu 610039, ChinaSchool of Mechanical Engineering, Xihua University, Chengdu 610039, ChinaSchool of Mechanical Engineering, Xihua University, Chengdu 610039, ChinaSchool of Mechanical Engineering, Xihua University, Chengdu 610039, ChinaSchool of Mechanical Engineering, Xihua University, Chengdu 610039, ChinaA periodic intermittent adaptive control method with saturation is proposed to pin the quasi-consensus of nonlinear heterogeneous multi-agent systems with external disturbances in this paper. A new periodic intermittent adaptive control protocol with saturation is designed to control the internal coupling between the follower agents and the feedback gain between the leader and the follower. In particular, we use the saturation adaptive law: when the quasi-consensus error converges to a certain range, the adaptive coupling edge weight and the adaptive feedback gain will not be updated. Furthermore, we propose three saturated adaptive pinning control protocols. The quasi-consensus is achieved through its own pinning as long as the agents remain connected to each other. Using the Lyapunov function method and inequality technique, the convergence range of the quasi-consensus error of a heterogeneous multi-agent system is obtained. Finally, the rationality of the proposed control protocol is verified through numerical simulation. Theoretical derivation and simulation results show that the novel proposed periodic intermittent adaptive control method with saturation can successfully be used to achieve the pinning of quasi-consensus of nonlinear heterogeneous multi-agent systems.https://www.mdpi.com/1099-4300/25/9/1266multi-agent systemsquasi-consensusperiodic intermittentadaptive pinning control |
| spellingShingle | Bin Du Quan Xu Junfu Zhang Yi Tang Lei Wang Ruihao Yuan Yu Yuan Jiaju An Periodic Intermittent Adaptive Control with Saturation for Pinning Quasi-Consensus of Heterogeneous Multi-Agent Systems with External Disturbances Entropy multi-agent systems quasi-consensus periodic intermittent adaptive pinning control |
| title | Periodic Intermittent Adaptive Control with Saturation for Pinning Quasi-Consensus of Heterogeneous Multi-Agent Systems with External Disturbances |
| title_full | Periodic Intermittent Adaptive Control with Saturation for Pinning Quasi-Consensus of Heterogeneous Multi-Agent Systems with External Disturbances |
| title_fullStr | Periodic Intermittent Adaptive Control with Saturation for Pinning Quasi-Consensus of Heterogeneous Multi-Agent Systems with External Disturbances |
| title_full_unstemmed | Periodic Intermittent Adaptive Control with Saturation for Pinning Quasi-Consensus of Heterogeneous Multi-Agent Systems with External Disturbances |
| title_short | Periodic Intermittent Adaptive Control with Saturation for Pinning Quasi-Consensus of Heterogeneous Multi-Agent Systems with External Disturbances |
| title_sort | periodic intermittent adaptive control with saturation for pinning quasi consensus of heterogeneous multi agent systems with external disturbances |
| topic | multi-agent systems quasi-consensus periodic intermittent adaptive pinning control |
| url | https://www.mdpi.com/1099-4300/25/9/1266 |
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