Distributed adaptive consensus protocols for multiple Lur'e systems over directed graphs. Issue 4 (1st February 2016)

• Record Type: Journal Article
• Authors: Lv, Yuezu; Li, Zhongkui; Duan, Zhisheng
• Is Part Of: IET control theory & applications. Volume 10:Issue 4(2016)
• Page Start: 443
• Page End: 450
• Publication Date: 2016-02-01
• Subjects: multi‐agent systems -- directed graphs -- nonlinear control systems -- trees (mathematics) -- distributed control -- adaptive control -- continuous systems -- control system synthesis; leader–follower consensus problem -- multiagent systems -- directed graphs -- nonlinear Lur'e system -- zero control inputs -- bounded control inputs -- directed spanning tree -- continuous distributed adaptive consensus protocol -- uniform ultimate boundedness -- adaptive coupling gains -- consensus error upper bound; Control theory -- Periodicals; Automatic control -- Periodicals; 629.8312
• DOI: 10.1049/iet-cta.2015.0682
• Languages: English
• ISSNs: 1751-8644

Abstract

Abstract : This study addresses the leader–follower consensus problem for multi‐agent systems with directed graphs where each agent is modelled as a non‐linear Lur'e system. Both the cases where the leader has zero or bounded control inputs are considered. For the case where the leader is of zero control input, a distributed adaptive protocol is designed, under which leader–follower consensus can be achieved for any directed graph containing a directed spanning tree with the leader as the root. For the case where the leader's control input is unknown, but bounded, a novel continuous distributed adaptive protocol is proposed to guarantee the uniform ultimate boundedness of the consensus error and the adaptive coupling gains. The upper bound of the consensus error is also explicitly derived. In comparison to the existing literature, the main contribution of this paper is that the adaptive protocols in this study are fully distributed and meanwhile applicable to a wide class of directed graphs.