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access icon free Robust consensus tracking of multi-agent systems with uncertain Lur’e-type non-linear dynamics

  • Author(s): Yu Zhao 1 ; Zhisheng Duan 1 ; Guanghui Wen 2 ; Guanrong Chen 3
    • View affiliations
    • Affiliations: 1: State Key Laboratory for Turbulence and Complex Systems, Department of Mechanics and Aerospace Engineering, College of Engineering, Peking University, Beijing 100871, People's Republic of China;
      2: Department of Mathematics, Southeast University, Nanjing 210096, People's Republic of China;
      3: Department of Electronic Engineering, City University of Hong Kong, Hong Kong SAR, People's Republic of China
  • Source: Volume 7, Issue 9, 13 June 2013, p. 1249 – 1260
    DOI:  10.1049/iet-cta.2013.0095 , Print ISSN 1751-8644, Online ISSN 1751-8652
© The Institution of Engineering and Technology
Received 14/08/2012, Accepted 18/04/2013, Revised 26/03/2013, Published

This study addresses the robust consensus tracking problem of multi-agent systems with uncertain Lur’e-type non-linear dynamics under a fixed topology. To achieve consensus tracking, a class of discontinuous control protocols are first proposed, which rely on the relative information among the neighbouring agents. Theoretical analysis indicates that the robust consensus tracking of uncertain Lur’e network can be achieved if the coupling strength and the control gain are both larger than the thresholds depending on some global information of the network. Then, an adaptive consensus tracking protocol is further designed to solve the robust consensus tracking problem as a modification of a fully distributed version without the need of any global information of the multi-agent systems. Furthermore, as an expansion of the discontinuous protocols, a new class of continuous control laws are developed based on the boundary layer concept. Finally, a couple of examples are given to illustrate the effectiveness of the theoretical results.

Inspec keywords: robust control; multi-agent systems; uncertain systems; adaptive control; tracking; nonlinear dynamical systems; sampled data systems; topology

Other keywords: coupling strength; robust consensus tracking problem; uncertain Lure-type nonlinear dynamics; adaptive consensus tracking protocol; discontinuous control protocol; uncertain Lure network; boundary layer; fixed topology; multiagent system; continuous control law; control gain

Subjects: Combinatorial mathematics; Artificial intelligence (theory); Self-adjusting control systems; Nonlinear control systems; Discrete control systems; Stability in control theory

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