Journal
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
Volume 64, Issue 6, Pages 2495-2501Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TAC.2018.2867161
Keywords
Consensus; multiagent systems; nonlinear PI; switching topologies; unknown control directions
Funding
- National Natural Science Foundation of China [61503079, 61520106009, 61533008, 61573103, U1713209]
- Jiangsu Natural Science Foundation [BK20150625]
- Fundamental Research Funds for the Central Universities [2242017K41055]
- Priority Academic Program Development of Jiangsu Higher Education Institutions
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Existing results on cooperative control of multiagent systems with unknown control directions require that the underlying topology is either fixed with a strongly connected graph or switching between different strongly connected graphs. Furthermore, in most cases the graph is assumed to be balanced. This paper proposes a new class of nonlinear proportional-integral (PI) based algorithms to relax these requirements and allow for unbalanced and switching topologies having a jointly strongly connected basis. This is made possible for single-integrator (SI) and double-integrator (DI) agents with nonidentical unknown control directions by a suitable selection of the distributed nonlinear PI functions. Moreover, as a special case, the proposed algorithms are applied to strongly connected and fixed graphs. Finally, simulation examples are given to show the validity of our theoretical results.
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