Regular Papers

International Journal of Control, Automation, and Systems 2023; 21(8): 2595-2604

https://doi.org/10.1007/s12555-021-1076-y

© The International Journal of Control, Automation, and Systems

Adaptive Fully Distributed Consensus for a Class of Second-order Nonlinear Multi-agent Systems With Switching Networks

Sheng Li*, Wencheng Zou, Xiang Chen, Chen Chen, and Zhengrong Xiang*

Nanjing University of Science and Technology

Abstract

This paper investigates the distributed consensus for a class of second-order nonlinear multiagent systems, where agents communicate with each other on switching networks. By the adaptive control and the backstepping design techniques, a novel protocol is proposed under the restriction that global information, including the number of agents and the topology information, is unavailable. Using the Lyapunov functional method, it is proven that the underlying multiagent systems can reach complete consensus via the developed protocol without the topology dwell time constraint. Then, the proposed results are extended to the consensus problem of multiagent systems with external disturbances. By skillfully integrating the adaptive control and non-smooth control strategies, the external disturbance is well suppressed and the asymptotical consensus can be reached. Finally, we provide numerical examples to illustrate the effectiveness of the given protocols.

Keywords Adaptive control, fully distributed consensus, multiagent systems, switching networks.

Article

Regular Papers

International Journal of Control, Automation, and Systems 2023; 21(8): 2595-2604

Published online August 1, 2023 https://doi.org/10.1007/s12555-021-1076-y

Copyright © The International Journal of Control, Automation, and Systems.

Adaptive Fully Distributed Consensus for a Class of Second-order Nonlinear Multi-agent Systems With Switching Networks

Sheng Li*, Wencheng Zou, Xiang Chen, Chen Chen, and Zhengrong Xiang*

Nanjing University of Science and Technology

Abstract

This paper investigates the distributed consensus for a class of second-order nonlinear multiagent systems, where agents communicate with each other on switching networks. By the adaptive control and the backstepping design techniques, a novel protocol is proposed under the restriction that global information, including the number of agents and the topology information, is unavailable. Using the Lyapunov functional method, it is proven that the underlying multiagent systems can reach complete consensus via the developed protocol without the topology dwell time constraint. Then, the proposed results are extended to the consensus problem of multiagent systems with external disturbances. By skillfully integrating the adaptive control and non-smooth control strategies, the external disturbance is well suppressed and the asymptotical consensus can be reached. Finally, we provide numerical examples to illustrate the effectiveness of the given protocols.

Keywords: Adaptive control, fully distributed consensus, multiagent systems, switching networks.

IJCAS
May 2024

Vol. 22, No. 5, pp. 1461~1759

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