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Adaptive Coordination Control of Multi-Agent Systems with Switching Topologies and Unknown Nonlinear Dynamics

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Abstract:

In this paper, we study the leader-following adaptive consensus problem for multi-agent systems with unknown nonlinear dynamics. The topologies of the networks are switching. A novel adaptive consensus algorithm is proposed by using linear parameterizations of unknown nonlinear dynamics of all agents. By stability analysis and parameter convergence analysis of the proposed algorithm, adaptive consensus can be realized based on neighboring graphs. The stability analysis is based on algebraic graph theory and Lyapunov theory, the PE condition plays a key role in parameter convergence analysis. Example is given to validate the theoretical results.

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Periodical:

Applied Mechanics and Materials (Volumes 278-280)

Pages:

1413-1416

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.278-280.1413

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Online since:

January 2013

Authors:

Gao Yang Liu, Hui Yu, Yi Zhang

Keywords:

Adaptive Consensus, Multi-Agent (MA), Parameter Convergence, Switching Topology

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© 2013 Trans Tech Publications Ltd. All Rights Reserved

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