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Distributed consensus with unknown control coefficients and unknown Lipschitz nonlinearity | IEEE Conference Publication | IEEE Xplore

Distributed consensus with unknown control coefficients and unknown Lipschitz nonlinearity


Abstract:

This paper deals with the leader-following consensus problem for a class of second-order multi-agent systems with unknown Lipschitz nonlinear dynamics. Moreover, the cont...Show More

Abstract:

This paper deals with the leader-following consensus problem for a class of second-order multi-agent systems with unknown Lipschitz nonlinear dynamics. Moreover, the control coefficients are assumed to be identical and bounded but unknown. The Nussbaum gain function technique is employed to deal with unknown the control coefficients. It is proved that the states of the multi-agent systems can achieve consensus by virtue of algebraic graph theory, Barbalat's lemma and Lyapunov theory, under the assumption that the interconnection topology is undirected and connected. Finally, simulation examples are provided to illustrate the effectiveness of the proposed algorithm.
Date of Conference: 26-28 July 2017
Date Added to IEEE Xplore: 11 September 2017
ISBN Information:
Electronic ISSN: 1934-1768
Conference Location: Dalian, China

1 Introduction

In the past decades, cooperative control of Multi-agent Systems(MAS) has been greatly studied due to its wide applications in areas such as formation control of unmanned aerial vehicles (UAVs), distributed sensor networks and attitude alignment of satellite clusters [1, 2]. The objective of the consensus control problem is to ensure that the MAS reach an agreement on the state or output values by designing a distributed controller with only local information from the agents' neighbors.

References

References is not available for this document.