Practical Consensus of Networked Agents with Uncertain High-Order-Nonlinear Dynamics
In this paper, the practical consensus problem of networked nonlinear heterogeneous agent with uncertain parameter as well as modeling error is considered under fixed sensing/communication topology. A graphic-theoretical approach combined with adaptive parameter estimation and robust controller is proposed such that the network can reach practical consensus under the graph topology condition mentioned in the paper. Compared with most existing work, the ultimate consensus state is independent of uncertainty and the heterogeneity of the agent. In spite of the practical consensus which means there is some difference between the ultimate state of agent, but the error can be minimized as small as possible. what’s more, the information needing to be transferred is very limited. This new result enables an adaptive robust controller(ARC)for consensus protocol for network of agent with high-order nonlinear dynamics and having modeling error. The designing procedure of the protocol is based on back-stepping, and its effectiveness is proven by Lyapunov Function. Finally examples are presented to illustrate the effectiveness of the proposed controller.
ARC back-stepping consensus uncertainty
Junmin Peng Xudong Ye
College of Electrical Engineering, Zhejiang University, Hangzhou 310027
国际会议
The 31st Chinese Control Conference(第三十一届中国控制会议)
合肥
英文
6032-6037
2012-07-01（万方平台首次上网日期，不代表论文的发表时间）