Title :
Adaptive consensus algorithms for state variables of leaderless multi-agent systems
Author :
Shida, Takanobu ; Ohmori, Hiromitsu
Author_Institution :
Sch. of Integrated Design Eng., Keio Univ., Yokohama, Japan
Abstract :
In this paper, we propose consensus algorithms to achieve an agreement of the state values of all agents for multi-agent systems consisting of dynamical systems with unknown parameters. By adjusting feedback gains online, the stability of multi-agent system is guaranteed against uncertainties of parameters. We assume that there is neither leader nor virtual leader providing the target of state values for all agents. Then, a common target for all agents is decided by a distributed approach. By the control inputs, the state values of all agents converge to the common target, and consensus is achieved.
Keywords :
adaptive control; directed graphs; distributed control; multi-agent systems; multi-robot systems; stability; adaptive consensus algorithms; distributed approach; dynamical systems; feedback gains; leaderless multi-agent systems; multi-agent system stability; state variables; Eigenvalues and eigenfunctions; Laplace equations; Lead; Multi-agent systems; Nickel; Vehicles; Adaptive control; Consensus; Leaderless architecture; Multi-agent system;
Conference_Titel :
Control Conference (CCC), 2013 32nd Chinese
Conference_Location :
Xi´an
