Output consensus control of multi-agent systems with nonlinear non-minimum phase dynamics. Issue 4 (3rd April 2018)

• Record Type: Journal Article
• Authors: Shamsi, F.; Talebi, H.A.; Abdollahi, F.
• Is Part Of: International journal of control. Volume 91:Issue 4(2018)
• Page Start: 785
• Page End: 796
• Publication Date: 2018-04-03
• Subjects: Consensus -- multi-agent system -- non-minimum phase dynamics -- zero dynamics; Automatic control -- Periodicals; Electronic journals; 629.8
• DOI: 10.1080/00207179.2017.1293847
• Languages: English
• ISSNs: 0020-7179

Abstract

ABSTRACT: This paper considers the output consensus problem in non-minimum phase nonlinear multi-agent systems. The main contribution of the paper is to guarantee achieving consensus in the presence of unstable zero dynamics. To achieve this goal, a consensus protocol consisting of two terms is proposed. The first term is a linear function of the states of each agent employed in order to overcome the non-minimum phase dynamics, and the second term is a function of the output of neighbouring agents which provides coupling among agents and guarantees output consensus in the network. The asymptotic stability of output consensus errors and the boundedness of the states of agents are also studied. A numerical example is presented to show the effectiveness of the proposed approach.