Adaptive consensus of multi-agents in networks with jointly connected topologies

Authors:
Hui Yu;Xiaohua Xia
Affiliations:
College of Science, China Three Gorges University, Yichang 443002, China and Centre of New Energy Systems, Department of Electrical, Electronics and Computer Engineering, University of Pretoria, P ...;Centre of New Energy Systems, Department of Electrical, Electronics and Computer Engineering, University of Pretoria, Pretoria 0002, South Africa
Venue:
Automatica (Journal of IFAC)
Year:
2012

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Abstract

In this paper, the consensus problem of multi-agent following a leader is studied. An adaptive design method is presented for multi-agent systems with non-identical unknown nonlinear dynamics, and for a leader to be followed that is also nonlinear and unknown. By parameterizations of unknown nonlinear dynamics of all agents, a decentralized adaptive consensus algorithm is proposed in networks with jointly connected topologies by incorporating local consensus errors in addition to relative position feedback. Analysis of stability and parameter convergence of the proposed algorithm are conducted based on algebraic graph theory and Lyapunov theory. Finally, examples are provided to validate the theoretical results.