Title :
Adaptive consensus of multi-agent systems with unknown nonlinear dynamics
Author :
Hui Yu ; Xiaohua Xia
Author_Institution :
Coll. of Sci., China Three Gorges Univ., Yichang, China
Abstract :
In this paper, the consensus problem of multiagent systems with non-identical unknown nonlinear dynamics following an unknown and nonlinear leader is studied. By parameterizations of unknown nonlinear dynamics of all agents, decentralized adaptive consensus algorithms are proposed in networks with fixed and switching topologies by incorporating local consensus errors in addition to relative position feedback. Analysis of stability and parameter convergence of the proposed algorithm are conducted based on algebraic graph theory, Lyapunov theory and Riccati inequalities. Finally, examples are provided to validate the theoretical results.
Keywords :
Lyapunov methods; Riccati equations; adaptive control; algebra; decentralised control; feedback; graph theory; mobile robots; multi-robot systems; nonlinear control systems; nonlinear dynamical systems; stability; Lyapunov theory; Riccati inequalities; adaptive consensus problem; algebraic graph theory; decentralized adaptive consensus algorithms; fixed topologies; local consensus errors; multiagent systems; nonidentical unknown nonlinear dynamics; nonlinear leader; parameter convergence; relative position feedback; stability; switching topologies; Eigenvalues and eigenfunctions; Multi-agent systems; Nonlinear dynamical systems; Switches; Symmetric matrices; Vectors;
Conference_Titel :
Control Conference (ASCC), 2013 9th Asian
Conference_Location :
Istanbul
Print_ISBN :
978-1-4673-5767-8
DOI :
10.1109/ASCC.2013.6606087
