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| Adaptive leader-following rendezvous and flocking for a class of uncertain second-order nonlinear multi-agent systems |
| W.Liu,J.Huang |
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| (Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Shatin, N.T., Hong Kong, China) |
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| 摘要: |
| In this paper, we study the leader-following rendezvous and flocking problems for a class of second-order nonlinear multi-agent systems, which contain both external disturbances and plant uncertainties. What differs our problems from the conventional leader-following consensus problem is that we need to preserve the connectivity of the communication graph instead of assuming the connectivity of the communication graph. By integrating the adaptive control technique, the distributed observer method and the potential function method, the two problems are both solved. Finally, we apply our results to a group of van der Pol oscillators. |
| 关键词: Adaptive control, connectivity preservation, multi-agent systems, nonlinear systems |
| DOI： |
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| 基金项目:This work was supported by the Research Grants Council of the Hong Kong Special Administration Region (No. 14200515). |
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| Adaptive leader-following rendezvous and flocking for a class of uncertain second-order nonlinear multi-agent systems |
| W. Liu,J. Huang |
| (Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Shatin, N.T., Hong Kong, China) |
| Abstract: |
| In this paper, we study the leader-following rendezvous and flocking problems for a class of second-order nonlinear multi-agent systems, which contain both external disturbances and plant uncertainties. What differs our problems from the conventional leader-following consensus problem is that we need to preserve the connectivity of the communication graph instead of assuming the connectivity of the communication graph. By integrating the adaptive control technique, the distributed observer method and the potential function method, the two problems are both solved. Finally, we apply our results to a group of van der Pol oscillators. |
| Key words: Adaptive control, connectivity preservation, multi-agent systems, nonlinear systems |
