Leader-following consensus of second-order nonlinear multi-agent systems subject to disturbances

Mao-bin LU; Lu LIU

doi:10.1631/FITEE.1800611

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Leader-following consensus of second-order nonlinear multi-agent systems subject to disturbances

Special Issue on Complex System and Intelligent Control | Updated：2022-05-19

- Leader-following consensus of second-order nonlinear multi-agent systems subject to disturbances
- 具有领航者的二阶非线性多智能体系统在外部扰动下的同步控制
- Frontiers of Information Technology & Electronic Engineering Vol. 20, Issue 1, Pages: 88-94(2019)
- Affiliations：
  
  School of Automation, Beijing Institute of Technology, Beijing 100081, China
  City University of Hong Kong Shenzhen Research Institute, Shenzhen 518057, China
  Department of Biomedical Engineering, City University of Hong Kong, Hong Kong, China
- Author bio：
  
  [ "Mao-bin LU, E-mail: lumaobin@bit.edu.cn" ]
  Lu LIU, E-mail: luliu45@cityu.edu.hk
- Funds：
- DOI：10.1631/FITEE.1800611
  CLC： TP182
- Received：30 September 2018，
  
  Revised：2019-;1-;8，
  
  Published：2019-01
- Accepted：
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Mao-bin LU, Lu LIU. Leader-following consensus of second-order nonlinear multi-agent systems subject to disturbances[J]. Frontiers of Information Technology & Electronic Engineering, 2019, 20(1): 88-94.
DOI：

Mao-bin LU, Lu LIU. Leader-following consensus of second-order nonlinear multi-agent systems subject to disturbances[J]. Frontiers of Information Technology & Electronic Engineering, 2019, 20(1): 88-94. DOI： 10.1631/FITEE.1800611.

摘要

研究了一类异质二阶非线性多智能体系统在外部扰动影响下的同步控制问题。其中，非线性系统允许包含可线性参数化的未知参数。提出一种新颖的分布式控制器，此控制器依赖于系统的相对状态，因此可以在多智能体系统之间没有通讯的情况下应用。通过Barbalat引理，证明此分布式控制器可求解二阶非线性多智能体系统的同步控制问题。对一组Van der Pol振荡器进行同步控制的应用示例验证了主要结果的有效性。

Abstract

In this study

we investigate the leader-following consensus problem of a class of heterogeneous second-order nonlinear multi-agent systems subject to disturbances. In particular

the nonlinear systems contain uncertainties that can be linearly parameterized. We propose a class of novel distributed control laws

which depends on the relative state of the system and thus can be implemented even when no communication among agents exists. By Barbalat's lemma

we demonstrate that consensus of the second-order nonlinear multi-agent system can be achieved by the proposed distributed control law. The effectiveness of the main result is verified by its application to consensus control of a group of Van der Pol oscillators.

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references

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