NDLI: A continuous leader-following consensus control strategy for a class of uncertain multi-agent systems

Content Provider	IEEE Xplore Digital Library
Author	Wang, Chuanrui Wang, Xinghu Ji, Haibo
Copyright Year	2014
Abstract	In this paper, we study the robust leader-following consensus problem for a class of multi-agent systems with unknown nonlinear dynamics and unknown but bounded disturbances. The control input of the leader agent is nonzero and not available to any follower agent. We first consider a class of high order chain integrator-type multi-agent systems. By employing the robust integral of the sign of the error technique, a continuous distributed control law is constructed using local information obtained from neighboring agents. Using Lyapunov analysis theory, we show that under a connected undirected information communication topology, the proposed protocol achieves semiglobal leader-following consensus. We then extend the approach to a class of more general uncertain multiagent systems. A numerical example is given to verify our proposed protocol.
Starting Page	187
Ending Page	192
Page Count	6
File Size	208491
File Format	PDF
ISSN	23299266
Volume Number	1
Issue Number	2
Language	English
Publisher Date	2014-01-01
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Chinese Association of Automation
Subject Keyword	Multi-agent systems Decentralized control Robustness Uncertainty Integrated circuits Topology distributed control uncertain systems Lyapunov stability
Content Type	Text
Resource Type	Article
Subject	Control and Optimization Artificial Intelligence Control and Systems Engineering Information Systems

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