Leader-following consensus for lower-triangular nonlinear multi-agent systems with unknown controller and measurement sensitivities

Title:

Leader-following consensus for lower-triangular nonlinear multi-agent systems with unknown controller and measurement sensitivities

Creator:

Shen, Yanjun, Wang, Dawei, and Fang, Zifan

Identifier:

https://cdk.lib.cas.cz/client/handle/uuid:f0f635c8-7f3c-451b-b03b-6af3868f0432
uuid:f0f635c8-7f3c-451b-b03b-6af3868f0432
doi:10.14736/kyb-2022-4-0522

Subject:

consensus, lower-triangular, nonlinear multi-agent systems, measurement noises, controller sensitivity, and output feedback

Type:

model:article and TEXT

Format:

bez média and svazek

Description:

In this paper, a novel consensus algorithm is presented to handle with the leader-following consensus problem for lower-triangular nonlinear MASs (multi-agent systems) with unknown controller and measurement sensitivities under a given undirected topology. As distinguished from the existing results, the proposed consensus algorithm can tolerate to a relative wide range of controller and measurement sensitivities. We present some important matrix inequalities, especially a class of matrix inequalities with multiplicative noises. Based on these results and a dual-domination gain method, the output consensus error with unknown measurement noises can be used to construct the compensator for each follower directly. Then, a new distributed output feedback control is designed to enable the MASs to reach consensus in the presence of large controller perturbations. In view of a Lyapunov function, sufficient conditions are presented to guarantee that the states of the leader and followers can achieve consensus asymptotically. In the end, the proposed consensus algorithm is tested and verified by an illustrative example.

Language:

English

Rights:

http://creativecommons.org/licenses/by-nc-sa/4.0/
policy:public

Coverage:

522-546

Source:

Kybernetika | 2022 Volume:58 | Number:4

Harvested from:

CDK

Metadata only:

false