Distributed Consensus Design for a Class of Uncertain Linear Multiagent Systems under Unbalanced Randomly Switching Directed Topologies

Abstract

This paper proposes a novel approach to design fully distributed consensus controllers for heterogeneous linear Multiagent Systems subjected to randomly switching directed topologies and model uncertainties. The appealing features of this approach are as follows. First, it uses the mildest assumption for the randomly switching topologies that the union of switched graphs has a spanning tree. Second, the consensus is achieved under a class of state multiplicative uncertainties. Moreover, the proposed consensus controllers are low-rank and have nonconservative coupling strengths. Finally, a numerical example is presented to illustrate the effectiveness of the proposed theoretical approach.

Distributed adaptive containment control for a group of aerial robots with external disturbances

“…Different distributed control methods have been previously developed in the literature [22][23][24][25][26][27][28][29][30][31][32][33][34][35]. A leaderfollower consensus algorithm for a heterogeneous multiagent system with nonlinear dynamics was presented in Lee et al [23].…”

“…Although the previous researchers have presented various types of the distributed control algorithms, there are few researches regarding the containment problem. Therefore, the aim of this paper is to develop a distributed adaptive containment controller with the following contributions: (1) The papers [22][23][24][25][26][27][28][29][30][31][32][33][34][35] only designed formation control for one leader and there is no multiple leaders. But we design the controller for multiple leaders and multiple followers.…”

“…They assumed that each agent had velocity and input constraints under directed communication graphs. A distributed controller was presented for a group of heterogeneous linear agents by considering different model uncertainties in Nguyen [31]. A distributed nonlinear H∞ control algorithm was developed in Rekabi et al [32] for the flight formation control of aerial robotics team.…”

Observer-Based Consensus of Higher-Order Nonlinear Heterogeneous Multiagent Systems with Unmatched Uncertainties: Application on Robotic Systems

“…The consensus problem for linear heterogeneous multiagent systems was investigated in refs. [28,29]. References [30][31][32][33] addressed the consensus problem for nonlinear heterogeneous multiagent systems.…”