Guaranteed‐performance consensus design for Lipschitz nonlinear multiagent systems with jointly connected topologies

Summary In this paper, we investigate the consensus verification problem of nonlinear agents in a fixed directed network with a nonlinear protocol. Inspired by the classical Lipschitz‐like condition, we introduce a more relax condition for the dynamics of the nonlinear agents. This condition is motivated via the construction of general Lyapunov functions for achieving asymptotic consensus. Especially, for agents where dynamics are described by polynomial function of the states, our consensus criterion can be converted to a sum of squares (SOS) programming problem, solvable via semidefinite programming tools. Of interest is that the scale of the resulting SOS programming problem does not increase as the size of the network increases, and thus, the applicability to analyze consensus of large‐scale networks is promising. Finally, an example is given to illustrate the effectiveness of our theoretical results.

“…Third, the constraints (4) and (5) in Assumption 3 can be replaced by the following stricter constraints:…”

Section: Lemmamentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Sum‐of‐squares–based consensus verification for directed networks with nonlinear protocols

Liang

Ong

She

2019

“…Ren addressed formation control problems by implementing the consensus‐based approach and showed that the above‐mentioned classical methodologies could be unified in the framework of the consensus‐based formation control. Inspired by the development of the consensus theory in the control community, the newly developed consensus‐based formation control strategies were reported in many application fields including mobile robots, intelligent ground vehicles, and unmanned aerial vehicles (see References and the references therein).…”

Section: Introductionmentioning

confidence: 99%

Robust time‐varying formation design for multiagent systems with disturbances: Extended‐state‐observer method

Wang

et al. 2020

Self Cite

107

Robust time-varying formation design problems for second-order multiagent systems subjected to external disturbances are investigated. First, by constructing an extended state observer, the disturbance compensation is estimated, which is a critical term in the proposed robust time-varying formation control protocol. Then, an explicit expression of the formation center function is determined and impacts of disturbance compensations on the formation center function are presented. With the formation feasibility conditions, robust time-varying formation design criteria are derived to determine the gain matrix of the formation control protocol by utilizing the algebraic Riccati equation technique. Furthermore, the tracking performance and the robustness property of multiagent systems are analyzed. Finally, the numerical simulation is provided to illustrate the effectiveness of theoretical results. K E Y W O R D S algebraic Riccati equation, extended state observer, external disturbance, multiagent system, robust time-varying formation 2796

“…The consensus problem of multiagent systems (MASs) has drawn great attention due to its broad applications in many areas such as formation control of robotic teams, information fusion of sensor networks, attitude alignment of multiple unmanned aerial vehicles, and so on . In the past decade, many works have been represented to address the consensus control problem for linear or affine nonlinear MASs (see, for example, References ). However, in some applications such as the chemical reaction, the pendulum control, and the wind turbine control, the dynamic models of systems are in nonaffine form such that the control input does not appear linearly, which makes the controller design more difficult and challenging than affine systems.…”

Section: Introductionmentioning

confidence: 99%

Distributed output‐feedback finite‐time tracking control of nonaffine nonlinear leader‐follower multiagent systems

Chen

Xiang

Dai

2020

The distributed output-feedback tracking control for a class of networked multiagents in nonaffine pure-feedback form is investigated in this article. By introducing a low-pass filter and some auxiliary variables, we first transform the nonaffine system into the affine form. Then, the finite-time observer is designed to estimate the states of the newly derived affine system. By applying the fraction dynamic surface control approach and the neural network-based approximation technique, the distributed output-feedback control laws are proposed and it is proved that the tracking errors converge to an arbitrarily small bound around zero in finite time. Finally, some simulation examples are provided to confirm the effectiveness of the developed method. K E Y W O R D Sfinite-time, multiagent systems, nonaffine system, output-feedback, pure-feedback system