Distributed leader-follower consensus of nonlinear multi-agent systems with unconsensusable switching topologies and its application to flexible-joint manipulators
This paper investigates the distributed consensus problem of nonlinear multi-agent systems with switching topologies under a leader-follower framework. In particular, the unconsensusable switching topology is considered for modelling communication failures, which is more practical in the application...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
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Taylor & Francis Group
2018-09-01
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| Series: | Systems Science & Control Engineering |
| Subjects: | |
| Online Access: | http://dx.doi.org/10.1080/21642583.2018.1547991 |
| Summary: | This paper investigates the distributed consensus problem of nonlinear multi-agent systems with switching topologies under a leader-follower framework. In particular, the unconsensusable switching topology is considered for modelling communication failures, which is more practical in the applications. By adopting the novel mode-dependent average dwell time, sufficient consensus conditions are established and the corresponding topology-dependent consensus gains are designed in term of linear matrix inequalities. In the end, an illustrative example with application to multiple flexible-joint manipulators is provided to verify the effectiveness of our proposed design method. |
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| ISSN: | 2164-2583 |