Robust consensus tracking of a class of second-order multi-agent dynamic systems

In this paper, we study the problem of robust consensus tracking for a class of second-order multi-agent dynamic systems with disturbances and unmodeled agent dynamics. Contrary to previous approaches, we design continuous distributed consensus protocols to enable global asymptotic consensus trackin...

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Main Author: Hu, Guoqiang
Other Authors: School of Electrical and Electronic Engineering
Format: Article
Language:English
Published: 2013
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Online Access:https://hdl.handle.net/10356/84797
http://hdl.handle.net/10220/11887
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Institution: Nanyang Technological University
Language: English
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spelling sg-ntu-dr.10356-847972020-03-07T13:57:29Z Robust consensus tracking of a class of second-order multi-agent dynamic systems Hu, Guoqiang School of Electrical and Electronic Engineering DRNTU::Engineering::Electrical and electronic engineering In this paper, we study the problem of robust consensus tracking for a class of second-order multi-agent dynamic systems with disturbances and unmodeled agent dynamics. Contrary to previous approaches, we design continuous distributed consensus protocols to enable global asymptotic consensus tracking. Our focus is on consensus protocol design and stability analysis which also leads to the derivation of sufficient conditions for consensus tracking. We first consider the case of undirected information exchange with a symmetric and positive definite information-exchange matrix. We develop an identifier for each agent to estimate the unknown disturbances and unmodeled agent dynamics. Based on the identifier, we develop a consensus tracking protocol to enable global asymptotic consensus tracking using local information obtained from neighboring agents. The closed-loop stability is proven using Lyapunov analysis theory and an invariance-like theorem. We then extend the approach to the case of directed information exchange, whose information-exchange matrix is only of full rank so that the approach for undirected graphs cannot be directly applied. We show that global asymptotic consensus tracking can still be enabled under the new derived sufficient conditions by designing a new identifier, which utilizes the estimated information exchanged from neighboring agents, and constructing a new Lyapunov function. Examples and numerical simulations are provided to validate the effectiveness of the proposed robust consensus tracking method. 2013-07-18T07:06:12Z 2019-12-06T15:51:16Z 2013-07-18T07:06:12Z 2019-12-06T15:51:16Z 2011 2011 Journal Article Hu, G. (2012). Robust consensus tracking of a class of second-order multi-agent dynamic systems. Systems & Control Letters, 61(1), 134-142. 0167-6911 https://hdl.handle.net/10356/84797 http://hdl.handle.net/10220/11887 10.1016/j.sysconle.2011.10.004 en Systems & control letters © 2011 Elsevier B.V.
institution Nanyang Technological University
building NTU Library
country Singapore
collection DR-NTU
language English
topic DRNTU::Engineering::Electrical and electronic engineering
spellingShingle DRNTU::Engineering::Electrical and electronic engineering
Hu, Guoqiang
Robust consensus tracking of a class of second-order multi-agent dynamic systems
description In this paper, we study the problem of robust consensus tracking for a class of second-order multi-agent dynamic systems with disturbances and unmodeled agent dynamics. Contrary to previous approaches, we design continuous distributed consensus protocols to enable global asymptotic consensus tracking. Our focus is on consensus protocol design and stability analysis which also leads to the derivation of sufficient conditions for consensus tracking. We first consider the case of undirected information exchange with a symmetric and positive definite information-exchange matrix. We develop an identifier for each agent to estimate the unknown disturbances and unmodeled agent dynamics. Based on the identifier, we develop a consensus tracking protocol to enable global asymptotic consensus tracking using local information obtained from neighboring agents. The closed-loop stability is proven using Lyapunov analysis theory and an invariance-like theorem. We then extend the approach to the case of directed information exchange, whose information-exchange matrix is only of full rank so that the approach for undirected graphs cannot be directly applied. We show that global asymptotic consensus tracking can still be enabled under the new derived sufficient conditions by designing a new identifier, which utilizes the estimated information exchanged from neighboring agents, and constructing a new Lyapunov function. Examples and numerical simulations are provided to validate the effectiveness of the proposed robust consensus tracking method.
author2 School of Electrical and Electronic Engineering
author_facet School of Electrical and Electronic Engineering
Hu, Guoqiang
format Article
author Hu, Guoqiang
author_sort Hu, Guoqiang
title Robust consensus tracking of a class of second-order multi-agent dynamic systems
title_short Robust consensus tracking of a class of second-order multi-agent dynamic systems
title_full Robust consensus tracking of a class of second-order multi-agent dynamic systems
title_fullStr Robust consensus tracking of a class of second-order multi-agent dynamic systems
title_full_unstemmed Robust consensus tracking of a class of second-order multi-agent dynamic systems
title_sort robust consensus tracking of a class of second-order multi-agent dynamic systems
publishDate 2013
url https://hdl.handle.net/10356/84797
http://hdl.handle.net/10220/11887
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