Journal
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
Volume 58, Issue 7, Pages 1786-1791Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TAC.2012.2235715
Keywords
Adaptive law; consensus; Lipschitz nonlinearity; multi-agent system
Funding
- National Natural Science Foundation of China [61104153, 61225013]
- National 973 Program [2012CB720000]
- China Postdoctoral Science Foundation [20100480211, 201104059]
- National Science Foundation under CAREER Award [ECCS-1213291]
- Div Of Electrical, Commun & Cyber Sys
- Directorate For Engineering [1213291] Funding Source: National Science Foundation
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This technical brief considers the distributed consensus problems for multi-agent systems with general linear and Lipschitz nonlinear dynamics. Distributed relative-state consensus protocols with an adaptive law for adjusting the coupling weights between neighboring agents are designed for both the linear and nonlinear cases, under which consensus is reached for all undirected connected communication graphs. Extensions to the case with a leader-follower communication graph are further studied. In contrast to the existing results in the literature, the adaptive consensus protocols here can be implemented by each agent in a fully distributed fashion without using any global information.
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