期刊
IEEE TRANSACTIONS ON CYBERNETICS
卷 52, 期 7, 页码 6993-7001出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TCYB.2020.3037177
关键词
Delays; Multi-agent systems; Observers; Topology; Delay effects; Graph theory; Time-varying systems; Consensus control; dynamic gain; nonlinear multiagent systems; output feedback; time delays
类别
资金
- Innovative Research Groups of National Natural Science Foundation of China [61821004]
- National Natural Science Foundation of China [61733010, 62073190, 61973189, 61873334]
- Research Fund for the Taishan Scholar Project of Shandong Province of China [ts20190905]
This article proposes a dynamic gain approach for investigating the leader-follower consensus problem of nonlinear multiagent systems. By introducing an observer and designing a distributed output-feedback control protocol, the consensus of the multiagent system is achieved without resorting to the backstepping technique. The effectiveness of the proposed approaches is illustrated by a simulation example.
This article proposes a dynamic gain approach for investigating the leader-follower consensus problem of nonlinear multiagent systems with both distributed delays and discrete delays. It is assumed that each agent is in the strict-feedback form and satisfies the Lipschitz condition with an unknown constant. A novel dynamic gain observer is first constructed for each follower by only utilizing the output information of the follower and its neighbors. By introducing an observer, a distributed output-feedback control protocol is designed for each follower agent under a directed communication topology. It is proved by the Lyapunov-Razumikhin theorem that the consensus of the multiagent system is achieved with the proposed consensus protocol. Different from the existing results, the dynamic gain is constructed for each follower to propose the consensus protocol, without resorting to the celebrated backstepping technique. Moreover, the time-varying gain is designed in a uniform framework. The effectiveness of the proposed approaches is illustrated by a simulation example.
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