有向切换拓扑下非线性多智能体系统的一致性控制

doi:10.7527/S1000-6893.2020.24295

Abstract

Abstract: This paper addresses the dynamic consensus problem of Lur'e-type nonlinear multi-agent systems with directed switching topologies. Distributed dynamic consensus controllers are designed based on relative output information of neighboring agents. The special property of the directed graph Laplacian matrix is used to decompose the Laplacian matrix and the linear transformation in a particular form is adopted to convert the consensus problem with switching topologies into a stabilization problem of a switched system with lower dimensions. The piecewise continuous Lyapunov function is proposed to analyze the equivalent system by solving linear matrix inequalities. A design method is proposed to properly select the controller gains, and the average dwell time condition is obtained. Finally, simulation is conducted to illustrate the effectiveness of the theoretical results.

Key words: consensus, multi-agent systems, Lur'e-type nonlinear system, directed switching topologies, linear matrix inequalities

CLC Number:

V19
TP13

YAN Shi, WU Xiuzhen, WANG Shuailei, LI Ruitao. Consensus of nonlinear multi-agent systems with directed switching topologies[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2020, 41(S2): 724295-724295.

References

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Consensus of nonlinear multi-agent systems with directed switching topologies

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