Adaptive coordination of second-order multi-agent systems with instinct nonlinear dynamics under a directed graph
In this paper,we study the distributed coordination for second-order multi-agent systems with intrinsic nonlinear dynamics and heterogeneous control gains under a general directed graph.Unlike the existing consensus algorithm for second-order multi-agent systems under a directed graph where all agents share common control gains,here we allow the control gains are heterogeneous for each agent.We propose fully distributed consensus algorithms for both the leaderless consensus problem and the coordinated tracking problem with a dynamic leader.Novel integral-type Lyapunov functions are proposed to study the consensus and tracking convergence.The control gains are varying and updated by distributed adaptive laws.As a result,the proposed algorithms require no global information and thus can be implemented in a fully distributed manner.
Multi-agent systems cooperative control consensus coordinated tracking adaptive/heterogenous gains
MEI Jie
Harbin Institute of Technology Shenzhen Graduate School,Guangdong,518055,P.R.China
国际会议
The 33th Chinese Control Conference第33届中国控制会议
南京
英文
1692-1697
2014-07-28（万方平台首次上网日期，不代表论文的发表时间）