Distributed adaptive consensus protocols for linearly coupled Lur'e systems over a directed topology. Issue 15 (1st October 2017)

• Record Type: Journal Article
• Authors: Feng, Yuting; Lv, Yuezu; Duan, Zhisheng
• Is Part Of: IET control theory & applications. Volume 11:Issue 15(2017)
• Page Start: 2465
• Page End: 2474
• Publication Date: 2017-10-01
• Subjects: distributed control -- adaptive control -- linear systems -- networked control systems -- directed graphs -- multi‐robot systems -- flexible manipulators -- trees (mathematics) -- feedback; distributed adaptive consensus protocols -- linearly coupled Lure systems -- directed topology -- consensus problem -- networked Lure system -- directed graph -- multiagent systems -- complex networks -- inner‐linking function -- control protocols -- communication topology -- leaderless situations -- leader–follower situations -- adaptive consensus protocols -- distributed protocols -- coupled Chua circuit -- union graph -- communication graph -- directed spanning tree -- first‐order system -- positive inherent interactions -- negative inherent interactions -- feedback gain -- flexible link robotic arm; Control theory -- Periodicals; Automatic control -- Periodicals; 629.8312
• DOI: 10.1049/iet-cta.2017.0480
• Languages: English
• ISSNs: 1751-8644

Abstract

Abstract : This study solves the consensus problem of networked Lue' system over a directed graph. First, a novel unified framework for multi‐agent systems and complex networks is proposed, where the inner‐linking function is given in advance, while the control protocols have to be designed through a communication topology. Then, for both leaderless and leader–follower situations, adaptive consensus protocols are designed in a fully distributed fashion, without using any global information of the communication graphs. Sufficient conditions are provided to design distributed protocols to ensure consensus. Furthermore, compared with other works, the simulation result of a coupled Chua's circuit shows that these conditions can be further released, since the consensus can be achieved with the union graph of the inherent connections and communication graph containing a directed spanning tree. In particular, special case of first‐order system is discussed, where specific threshold is given to show how the 'positive' or 'negative' inherent interactions affect the choice of the communication graph and the feedback gain. Finally, a more practical flexible link robotic arm example is provided to illustrate the effectiveness of the theoretical analysis.