Robust Adaptive Consensus Protocols Design for Multi-agent Systems with Bounded Disturbances and Time-delays
In this paper, the problem of average consensus for a class of multi-agent systems with bounded disturbances and time-delays is presented. Indirect adaptive protocols are developed to solve the problem while the bound of disturbances and time-delays are assume to be unknown. The adaptation laws are proposed to estimate the upper and lower bounds of disturbances and delayed state errors on-line. Then a class of distributed robust adaptive controllers is constructed to automatically compensate the disturbance and delay effects based on the information from adaptive schemes. On the basis of Lyapunov stability theory, it shows that the average consensus of resulting adaptive multi-agent system can be reached in the presence of external disturbances and time-delays. The proposed design technique is finally evaluated in the light of a simulation example.
Multi-Agent Systems Average Consensus Adaptive Control Graph Theory
Xiaozheng Jin
Key Laboratory of Manufacturing Industrial Integrated Automation, Shenyang University, Shenyang Liaoning 110044, China
国际会议
The 22nd China Control and Decision Conference(2010年中国控制与决策会议)
徐州
英文
2695-2700
2010-05-26（万方平台首次上网日期，不代表论文的发表时间）