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Adaptive consensus for multi-agent systems with switched nonlinear dynamics and switching directed topologies

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Abstract

In this paper, the leader-following consensus problem is investigated for heterogeneous switched nonlinear multi-agent systems with switching topologies. First, because the whole state information cannot be obtained, two adaptive observers are, respectively, developed to accurately estimate the switched system states and the state of the leader for each follower. Then, a novel adaptive controller that employs these observers is developed for the heterogeneous switched nonlinear multi-agent systems, and the problems regarding switched systems and the switching topologies can be solved in the process of the adaptive controller design. Moreover, the switching rule of the switched systems satisfies the average dwell time as well as the assumed conditions of the communication topologies by only directing routes to all followers from the leader. Finally, a simulation analysis is conducted to demonstrate the validity of the presented methods.

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Funding

This work was supported by the National Natural Science Foundation of China (61703296) and by the National Research Foundation of Korea (NRF) grant funded by the Korea government (Ministry of Science and ICT) (No. NRF-2020R1A2C1005449).

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Authors and Affiliations

  1. School of Electronics and Information Engineering, Suzhou University of Science and Technology, Suzhou, China

    Shenghui Guo & Renyang You

  2. School of Electrical Engineering, Korea University, Seoul, 136-701, Korea

    Choon Ki Ahn

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  1. Shenghui Guo
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  2. Renyang You
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Correspondence to Choon Ki Ahn.

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Guo, S., You, R. & Ahn, C.K. Adaptive consensus for multi-agent systems with switched nonlinear dynamics and switching directed topologies. Nonlinear Dyn 111, 1285–1299 (2023). https://doi.org/10.1007/s11071-022-07895-5

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