Leader-following Consensus for Second-order Nonlinear Multi-agent Systems Under Markovian Switching Topologies with Application to Ship Course-keeping

• Published in: International journal of control, automation, and systems Vol. 19; no. 1; pp. 54 - 62
• Main Authors: Wang, Chuanrui, Yan, Chuanxu, Liu, Zhenchong
• Format: Journal Article
• Language: English
• Published: Bucheon / Seoul Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers 2021; Springer Nature B.V; 제어·로봇·시스템학회
• Subjects: Adaptive control; Control; Control theory; Engineering; Feedback control; Lipschitz condition; Mechatronics; Multiagent systems; Nonlinear control; Nonlinear systems; Robotics; Switching; Topology; 제어계측공학; ship course-keeping; Distributed control; multi-agent system; nonlinear system; Markovian switching topology
• ISSN: 1598-6446; 2005-4092
• DOI: 10.1007/s12555-019-0395-8

The leader-following consensus problem for a class of second-order nonlinear multi-agent systems under Markovian switching topologies is studied. First, a discontinuous distributed adaptive nonlinear control law using the relative state information between neighboring agents is designed for heterogeneous multi-agent systems, which achieves almost sure leader-following consensus for the closed-loop system. Then, a smooth distributed control law is designed for homogeneous multi-agent systems. Compared with previous results, the nonlinear functions are not required to satisfy the globally Lipschitz condition and the adaptive consensus protocol is in a distributed fashion, i.e., using only the relative information. A practical example of ship course control system and simulation are provided to demonstrate the effectiveness of the control scheme.