Leader-following consensus for lower-triangular nonlinear multi-agent systems with unknown controller and measurement sensitivities

Yanjun Shen; Dawei Wang; Zifan Fang

Kybernetika (2022)

  • Volume: 58, Issue: 4, page 522-546
  • ISSN: 0023-5954

Abstract

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In this paper, a novel consensus algorithm is presented to handle with the leader-following consensus problem for lower-triangular nonlinear MASs (multi-agent systems) with unknown controller and measurement sensitivities under a given undirected topology. As distinguished from the existing results, the proposed consensus algorithm can tolerate to a relative wide range of controller and measurement sensitivities. We present some important matrix inequalities, especially a class of matrix inequalities with multiplicative noises. Based on these results and a dual-domination gain method, the output consensus error with unknown measurement noises can be used to construct the compensator for each follower directly. Then, a new distributed output feedback control is designed to enable the MASs to reach consensus in the presence of large controller perturbations. In view of a Lyapunov function, sufficient conditions are presented to guarantee that the states of the leader and followers can achieve consensus asymptotically. In the end, the proposed consensus algorithm is tested and verified by an illustrative example.

How to cite

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Shen, Yanjun, Wang, Dawei, and Fang, Zifan. "Leader-following consensus for lower-triangular nonlinear multi-agent systems with unknown controller and measurement sensitivities." Kybernetika 58.4 (2022): 522-546. <http://eudml.org/doc/299490>.

@article{Shen2022,
abstract = {In this paper, a novel consensus algorithm is presented to handle with the leader-following consensus problem for lower-triangular nonlinear MASs (multi-agent systems) with unknown controller and measurement sensitivities under a given undirected topology. As distinguished from the existing results, the proposed consensus algorithm can tolerate to a relative wide range of controller and measurement sensitivities. We present some important matrix inequalities, especially a class of matrix inequalities with multiplicative noises. Based on these results and a dual-domination gain method, the output consensus error with unknown measurement noises can be used to construct the compensator for each follower directly. Then, a new distributed output feedback control is designed to enable the MASs to reach consensus in the presence of large controller perturbations. In view of a Lyapunov function, sufficient conditions are presented to guarantee that the states of the leader and followers can achieve consensus asymptotically. In the end, the proposed consensus algorithm is tested and verified by an illustrative example.},
author = {Shen, Yanjun, Wang, Dawei, Fang, Zifan},
journal = {Kybernetika},
keywords = {consensus; lower-triangular; nonlinear multi-agent systems; measurement noises; controller sensitivity; output feedback},
language = {eng},
number = {4},
pages = {522-546},
publisher = {Institute of Information Theory and Automation AS CR},
title = {Leader-following consensus for lower-triangular nonlinear multi-agent systems with unknown controller and measurement sensitivities},
url = {http://eudml.org/doc/299490},
volume = {58},
year = {2022},
}

TY - JOUR
AU - Shen, Yanjun
AU - Wang, Dawei
AU - Fang, Zifan
TI - Leader-following consensus for lower-triangular nonlinear multi-agent systems with unknown controller and measurement sensitivities
JO - Kybernetika
PY - 2022
PB - Institute of Information Theory and Automation AS CR
VL - 58
IS - 4
SP - 522
EP - 546
AB - In this paper, a novel consensus algorithm is presented to handle with the leader-following consensus problem for lower-triangular nonlinear MASs (multi-agent systems) with unknown controller and measurement sensitivities under a given undirected topology. As distinguished from the existing results, the proposed consensus algorithm can tolerate to a relative wide range of controller and measurement sensitivities. We present some important matrix inequalities, especially a class of matrix inequalities with multiplicative noises. Based on these results and a dual-domination gain method, the output consensus error with unknown measurement noises can be used to construct the compensator for each follower directly. Then, a new distributed output feedback control is designed to enable the MASs to reach consensus in the presence of large controller perturbations. In view of a Lyapunov function, sufficient conditions are presented to guarantee that the states of the leader and followers can achieve consensus asymptotically. In the end, the proposed consensus algorithm is tested and verified by an illustrative example.
LA - eng
KW - consensus; lower-triangular; nonlinear multi-agent systems; measurement noises; controller sensitivity; output feedback
UR - http://eudml.org/doc/299490
ER -

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