Leader-following consensus of multi-agent systems under directed communication topology via distributed adaptive nonlinear protocol

In this paper, we study the leader-following consensus problem of general linear multi-agent systems under directed communication topology. To avoid using any global information, an adaptive nonlinear protocol is proposed based only on the relative state information. It is proved that, for any direc...

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Bibliographic Details
Published in:	Systems & control letters Vol. 70; pp. 23 - 29
Main Authors:	Wang, Chuanrui, Ji, Haibo
Format:	Journal Article
Language:	English
Published:	Elsevier B.V 01-08-2014
Subjects:	Adaptive control Agents (artificial intelligence) Control systems Expert systems Graph theory Graphs Law Leader-following consensus Multi-agent systems Nonlinear algorithm Nonlinearity Topology Nonlinear algorithm Adaptive control Multi-agent systems Leader-following consensus
Online Access:	Get full text
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Summary:	In this paper, we study the leader-following consensus problem of general linear multi-agent systems under directed communication topology. To avoid using any global information, an adaptive nonlinear protocol is proposed based only on the relative state information. It is proved that, for any directed communication graph that contains a spanning tree with the root node being the leader agent, the proposed control law solves the leader-following consensus problem. A numerical example is provided to illustrate the effectiveness of the theoretical results.
Bibliography:	ObjectType-Article-2 SourceType-Scholarly Journals-1 ObjectType-Feature-1 content type line 23
ISSN:	0167-6911 1872-7956
DOI:	10.1016/j.sysconle.2014.05.010