Distributed Adaptive Consensus Protocols for Linear Multi-agent Systems with Directed Graphs in The Presence of External Disturbances
This paper revisits the distributed adaptive consensus protocol in 1 when the agents are subject to external disturbances.To deal with the parameter drift phenomenon associated with the adaptive protocol in 1,we propose a novel distributed adaptive protocol by using the σ modification technique.It is shown that this novel adaptive protocol can guarantee the ultimate boundedness of both the consensus error and the adaptive coupling weights for linear multi-agent systems whose communication graph contains a directed spanning tree with the leader as the root node,and thereby is robust in the presence of external disturbances.
Multi-agent system consensus cooperative control adaptive control
Zhongkui Li Zhisheng Duan
State Key Laboratory for Turbulence and Complex Systems,Department of Mechanics and Aerospace Engineering College of Engineering,Peking University,Beijing 100871,China
国际会议
The 33th Chinese Control Conference第33届中国控制会议
南京
英文
1632-1637
2014-07-28（万方平台首次上网日期，不代表论文的发表时间）