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Consensus control of feedforward nonlinear multi-agent systems: A time-varying gain method
HanfengLi,XianfuZhang,WeihaoPan
0
(Shandong University)
摘要:
In this paper, the leader–follower consensus of feedforward nonlinear multi-agent systems is achieved by designing the distributed output feedback controllers with a time-varying gain. The agents dynamics are assumed to be in upper triangular structure and satisfy Lipschitz conditions with an unknown constant multiplied by a time-varying function. A time-varying gain, which increases monotonously and tends to infinity, is proposed to construct a compensator for each follower agent. Based on a directed communication topology, the distributed output feedback controller with a time-varying gain is designed for each follower agent by only using the output information of the follower and its neighbors. It is proved by the Lyapunov theorem that the leader–follower consensus of the multi-agent system is achieved by the proposed consensus protocol. The effectiveness of the proposed time-varying gain method is demonstrated by a circuit system.
关键词:  Consensus control · Nonlinear multi-agent systems · Time-varying gain · Output feedback
DOI:https://doi.org/10.1007/s11768-022-00083-1
基金项目:This work was supported by the National Natural Science Foundation of China (Nos. 61973189, 62073190), the Research Fund for the Taishan Scholar Project of Shandong Province of China (No. ts20190905), and the Natural Science Foundation of Shandong Province of China (No. ZR2020ZD25).
Consensus control of feedforward nonlinear multi-agent systems: A time-varying gain method
Hanfeng Li,Xianfu Zhang,Weihao Pan
(Shandong University)
Abstract:
In this paper, the leader–follower consensus of feedforward nonlinear multi-agent systems is achieved by designing the distributed output feedback controllers with a time-varying gain. The agents dynamics are assumed to be in upper triangular structure and satisfy Lipschitz conditions with an unknown constant multiplied by a time-varying function. A time-varying gain, which increases monotonously and tends to infinity, is proposed to construct a compensator for each follower agent. Based on a directed communication topology, the distributed output feedback controller with a time-varying gain is designed for each follower agent by only using the output information of the follower and its neighbors. It is proved by the Lyapunov theorem that the leader–follower consensus of the multi-agent system is achieved by the proposed consensus protocol. The effectiveness of the proposed time-varying gain method is demonstrated by a circuit system.
Key words:  Consensus control · Nonlinear multi-agent systems · Time-varying gain · Output feedback