Journal
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
Volume 62, Issue 8, Pages 3993-3998Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TAC.2016.2616645
Keywords
Barbalat lemma; consensus; nonlinear PI; switching
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The agreement control problem of single and double-integrator agents with unknown and nonidentical control directions is addressed in this note under switching network topology. Distributed nonlinear PI control laws are proposed which ensure asymptotic consensus among the agents based on a new bound-edness lemma and a generalized version of Barbalat's lemma for uniformly piecewise right continuous functions. Theoretical results are verified by simulation studies.
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