期刊
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
卷 62, 期 8, 页码 3993-3998出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TAC.2016.2616645
关键词
Barbalat lemma; consensus; nonlinear PI; switching
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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