Journal
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
Volume 66, Issue 7, Pages 3331-3338Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TAC.2020.3019737
Keywords
Multi-agent systems; Delays; Network topology; Switches; Nonlinear systems; Uncertainty; Decentralized control; Communication delays; consensus; heterogeneous nonlinear multiagent systems; switching networks
Funding
- National Natural Science Foundation of China [61973035]
- Research Grants Council of the Hong Kong Special Administrative Region of China [CityU/11217619]
- Key Program of National Natural Science Foundation of China [61933002]
- National Key R&D Program of China [2019YFA0706500]
- Projects of Major International (Regional) Joint Research Program National Natural Science Foundation of China [61720106011]
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This study addresses the consensus problem of heterogeneous second-order nonlinear uncertain multiagent systems under switching networks using a distributed control approach. A nonlinear distributed dynamic controller is developed based on the internal model principle to achieve consensus in the presence of system uncertainties, disturbances, and communication delays. The consensus is achieved through Lyapunov analysis in the presence of uniformly connected topologies and nonuniform time-varying communication delays.
The consensus problem of heterogeneous second-order nonlinear uncertain multiagent systems under switching networks is addressed by a distributed control approach. The network communication of all systems is subject to arbitrarily bounded and nonuniform time-varying delays. Based on the internal model principle, a nonlinear distributed dynamic controller is developed to solve the problem. By means of Lyapunov analysis, consensus of heterogeneous second-order nonlinear multiagent systems is achieved in the presence of system uncertainties, disturbances, and uniformly connected topologies as well as arbitrarily bounded and nonuniform time-varying communication delays.
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