Leader-following consensus for an integrator-type nonlinear multi-agent systems using distributed adaptive protocol

This paper deals with the leader-following consensus problem for a class of multi-agent systems with nonlinear dynamics and directed communication topology. Two distributed adaptive nonlinear control laws are proposed based on the relative state information between neighboring agents, which solve th...

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Bibliographic Details
Published in2013 10th IEEE International Conference on Control and Automation (ICCA) pp. 1166 - 1171
Main Authors Chuanrui Wang, Xinghu Wang, Haibo Ji
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.06.2013
Subjects
adaptive control
inverse optimal
Laplace equations
Lead
Multi-agent systems
nonlinear systems
Protocols
Topology
Vehicle dynamics
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ISBN9781467347075
1467347078
ISSN1948-3449
DOI10.1109/ICCA.2013.6564881

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Summary:This paper deals with the leader-following consensus problem for a class of multi-agent systems with nonlinear dynamics and directed communication topology. Two distributed adaptive nonlinear control laws are proposed based on the relative state information between neighboring agents, which solve the leader-following consensus problem and the inverse optimal adaptive leader-following consensus problem, respectively. Compared with the existing results in the literature, we do not put any restrictions on nonlinear functions and the adaptive consensus protocols are in a fully distributed fashion. A numerical example is given to verify the theoretical analysis.
ISBN:9781467347075
1467347078
ISSN:1948-3449
DOI:10.1109/ICCA.2013.6564881