Consensus of Multi-Agent Systems With General Linear and Lipschitz Nonlinear Dynamics Using Distributed Adaptive Protocols

This technical brief considers the distributed consensus problems for multi-agent systems with general linear and Lipschitz nonlinear dynamics. Distributed relative-state consensus protocols with an adaptive law for adjusting the coupling weights between neighboring agents are designed for both the...

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Bibliographic Details
Published inIEEE transactions on automatic control Vol. 58; no. 7; pp. 1786 - 1791
Main Authors Li, Zhongkui, Ren, Wei, Liu, Xiangdong, Fu, Mengyin
Format Journal Article
LanguageEnglish
Published New York IEEE 01.07.2013
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Adaptive law
Complex networks
consensus
Couplings
Eigenvalues and eigenfunctions
Lipschitz nonlinearity
multi-agent system
Multiagent systems
Protocols
Topology
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Summary:This technical brief considers the distributed consensus problems for multi-agent systems with general linear and Lipschitz nonlinear dynamics. Distributed relative-state consensus protocols with an adaptive law for adjusting the coupling weights between neighboring agents are designed for both the linear and nonlinear cases, under which consensus is reached for all undirected connected communication graphs. Extensions to the case with a leader-follower communication graph are further studied. In contrast to the existing results in the literature, the adaptive consensus protocols here can be implemented by each agent in a fully distributed fashion without using any global information.
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ISSN:0018-9286
1558-2523
DOI:10.1109/TAC.2012.2235715