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 |
| _version_ | 1828389489242800128 |
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| author | Chao Ma Wei Wu |
| author_facet | Chao Ma Wei Wu |
| author_sort | Chao Ma |
| collection | DOAJ |
| description | 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. |
| first_indexed | 2024-12-10T06:29:50Z |
| format | Article |
| id | doaj.art-ed90a366271a4e2d8abcfcb8d5fb4607 |
| institution | Directory Open Access Journal |
| issn | 2164-2583 |
| language | English |
| last_indexed | 2024-12-10T06:29:50Z |
| publishDate | 2018-09-01 |
| publisher | Taylor & Francis Group |
| record_format | Article |
| series | Systems Science & Control Engineering |
| spelling | doaj.art-ed90a366271a4e2d8abcfcb8d5fb46072022-12-22T01:59:07ZengTaylor & Francis GroupSystems Science & Control Engineering2164-25832018-09-016320020710.1080/21642583.2018.15479911547991Distributed leader-follower consensus of nonlinear multi-agent systems with unconsensusable switching topologies and its application to flexible-joint manipulatorsChao Ma0Wei Wu1University of Science and Technology BeijingInstitute of Automation, Chinese Academy of SciencesThis 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.http://dx.doi.org/10.1080/21642583.2018.1547991Consensusnonlinear multi-agent systemsswitching topologiesmode-dependent average dwell timeunconsensusable topologies |
| spellingShingle | Chao Ma Wei Wu Distributed leader-follower consensus of nonlinear multi-agent systems with unconsensusable switching topologies and its application to flexible-joint manipulators Systems Science & Control Engineering Consensus nonlinear multi-agent systems switching topologies mode-dependent average dwell time unconsensusable topologies |
| title | Distributed leader-follower consensus of nonlinear multi-agent systems with unconsensusable switching topologies and its application to flexible-joint manipulators |
| title_full | Distributed leader-follower consensus of nonlinear multi-agent systems with unconsensusable switching topologies and its application to flexible-joint manipulators |
| title_fullStr | Distributed leader-follower consensus of nonlinear multi-agent systems with unconsensusable switching topologies and its application to flexible-joint manipulators |
| title_full_unstemmed | Distributed leader-follower consensus of nonlinear multi-agent systems with unconsensusable switching topologies and its application to flexible-joint manipulators |
| title_short | Distributed leader-follower consensus of nonlinear multi-agent systems with unconsensusable switching topologies and its application to flexible-joint manipulators |
| title_sort | distributed leader follower consensus of nonlinear multi agent systems with unconsensusable switching topologies and its application to flexible joint manipulators |
| topic | Consensus nonlinear multi-agent systems switching topologies mode-dependent average dwell time unconsensusable topologies |
| url | http://dx.doi.org/10.1080/21642583.2018.1547991 |
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