Leader–following consensus problem of networked multi‐agent systems under switching topologies and communication constraints

Abstract

The problem of leader–following consensus is investigated for heterogeneous discrete‐time linear networked multi‐agent systems with data packet losses and network delays. Two kinds of networked protocols are presented to derive the states of followers to reach an agreement on leader's state under the switching topologies, in the meanwhile, the asymptotic stability of all agents are guaranteed. Due to unavailable agents' states and communication constraints, the networked predictive control method is used to compensate network delays and data packet losses actively. Sufficient criteria of leader–following consensus and asymptomatic stability are obtained when at least one follower is connected to the leader by a directed edge. The simulation example is presented to illustrate that states of followers can track leader's state, and all agents' states also asymptotically converge to the equilibrium under the proposed theoretical results.

An output formation consensus control for leader–follower networked multi‐agent systems under communication constraints and switching topologies

“…From Assumption 1,   are known and finite. Clearly, the whole closed-loop NMAS with proposed control scheme is equivalent to (22). Following the result in [34] and Lemma 1, if 𝜌(Ω i ) < 1, ∀i ∈  and 𝜌 JSR (Ω) < 1, the whole system ( 22…”

“…Obviously, the whole closed-loop system (22) of system (1) applying control law (2) under communication constraints and switching topologies is equivalent to a switched linear system. Remark 2.…”

“…In the references [4,27] and [22], researchers have implemented consensus control via the control laws based on the difference of states of individual agents with gain coefficients. However, since the states of many practical systems may not have the specific physical meaning, this paper proposes an integrator with switching signal parameters, which is built on the difference of the outputs considering the formation parameters, to achieve formation consensus control.…”

“…In the work of [20], the relative position‐based formation control problem for leader–follower multi‐agent systems in the first‐ and second‐order cases is implemented in a distributed manner with a prescribed performance strategy. Most research results on multi‐agent systems, such as [21] and [22], only consider how to make the state or output of a multi‐agent system converge to zero, which assumes that the expected reference input of all agents is zero. However, this is not the case in practice.…”

Adaptive Discontinuous Control for Fixed-Time Consensus of Nonlinear Multi-Agent Systems

“…After decades of research, a variety of consensus forms have been derived, such as asymptotic consensus [9,10], finite-time consensus [11][12][13][14][15][16] and FXC. Compared with the other two forms, FXC not only has a fast convergence rate, but also has a settling time that can be estimated by a uniform upper bound independent of the initial value of the system.…”