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Adaptive Fully Distributed Consensus for a Class of Second-order Nonlinear Multi-agent Systems With Switching Networks

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  • Control Theory and Applications
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Abstract

This paper investigates the distributed consensus for a class of second-order nonlinear multiagent systems, where agents communicate with each other on switching networks. By the adaptive control and the backstepping design techniques, a novel protocol is proposed under the restriction that global information, including the number of agents and the topology information, is unavailable. Using the Lyapunov functional method, it is proven that the underlying multiagent systems can reach complete consensus via the developed protocol without the topology dwell time constraint. Then, the proposed results are extended to the consensus problem of multiagent systems with external disturbances. By skillfully integrating the adaptive control and non-smooth control strategies, the external disturbance is well suppressed and the asymptotical consensus can be reached. Finally, we provide numerical examples to illustrate the effectiveness of the given protocols.

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Authors and Affiliations

  1. School of Automation, Nanjing University of Science and Technology, Nanjing, 210094, China

    Sheng Li, Xiang Chen, Chen Chen & Zhengrong Xiang

  2. State Key Laboratory of Internet of Things for Smart City, University of Macau, Macau, 999078, China

    Wencheng Zou

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  1. Sheng Li
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  4. Chen Chen
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  5. Zhengrong Xiang
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Correspondence to Sheng Li or Zhengrong Xiang.

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This work is supported in part by the National Key Research and Development Program of China (2017YFB1201203-002), in part by the High Technology Engineering Projects (5140501B02) and in part by the Jiangsu Key Research and Development Program (BE2021016).

Sheng Li received his Ph.D. degree in control theory and control engineering at Nanjing University of Science and Technology, Nanjing, China, in 2006. Since 2006, he has been a faculty member at Nanjing University of Science and Technology. He was appointed as a Lecturer in 2007 and Associate Professor in 2010 at Nanjing University of Science and Technology. He is a member of the Chinese Association of Automation and the Chinese Association for Artificial Intelligence. Recently, his main research interests include robot control, SLAM, and multiagent system.

Wencheng Zou received his B.S. and Ph.D. degrees from the School of Automation from Nanjing University of Science and Technology, Nanjing, China, in 2015 and 2020, respectively. He is now a Post-Doctoral Research Fellow with the State Key Laboratory of Internet of Things for Smart City from University of Macau, Taipa, Macau. His current research interests include multiagent systems, nonlinear systems, finite-time control, and switched systems.

Xiang Chen received his B.S. degree in automation from the Hefei University of Technology, Hefei, China, in 2020. He is currently pursuing an M.S. degree in control theory and control engineering, Nanjing University of Science and Technology. His research interests include adaptive control, nonlinear systems, and switched systems.

Chen Chen received his B.S. degree in automation from Nanjing University of Science and Technology, Nanjing, China, 2019. He is currently working toward a Ph.D. degree in control theory and control engineering at Nanjing University of Science and Technology, Nanjing, China. His research interests include multiagent systems, nonlinear systems, finite-time control, and switched systems.

Zhengrong Xiang received his Ph.D. degree in control theory and control engineering from Nanjing University of Science and Technology, Nanjing, China, in 1998. Since 1998, he has been a faculty member and he is currently a full professor at Nanjing University of Science and Technology. He was appointed as a Lecturer in 1998 and Associate Professor in 2001 at Nanjing University of Science and Technology. He is a member of the IEEE, member of the Chinese Association for Artificial Intelligence. His main research interests include switched systems, nonlinear control, robust control, and networked control systems.

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Li, S., Zou, W., Chen, X. et al. Adaptive Fully Distributed Consensus for a Class of Second-order Nonlinear Multi-agent Systems With Switching Networks. Int. J. Control Autom. Syst. 21, 2595–2604 (2023). https://doi.org/10.1007/s12555-021-1076-y

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