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Second-order consensus of multi-agent systems with unknown but bounded disturbance

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  • Control Theory
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Abstract

This paper addresses a consensus problem for second-order agents with unknown but bounded (UBB for short) disturbance which may affect the measure of neighbors’ velocities. In this study, the communication topology of the multi-agent system is supposed to be connected. In order to solve this consensus problem, a new velocity estimation called distributed lazy rule is firstly proposed, where each agent can estimate its neighbors’ velocities one by one. Then, a group of sufficient conditions for this second-order consensus problem are presented by adopting graph theory and the well-known Barbalat lemma, and the bounded consensus protocol is taken into account due to actuator saturation. Theoretically, the group of agents can reach consensus under the proposed control protocol, which is also validated by some numerical experiments.

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Authors and Affiliations

  1. Department of Automation, Zhejiang University of Technology, Zhejiang Provincial United Key Laboratory of Embedded Systems, Hangzhou, 310023, P. R. China

    Hongxiang Hu, Li Yu & Guang Chen

  2. State Key Laboratory of Turbulence and Complex Systems, Department of Industrial Engineering and Management, Center for Systems and Control, College of Engineering, Peking University, Beijing, 100871, P. R. China

    Guangming Xie

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Corresponding author

Correspondence to Li Yu.

Additional information

Recommended by Editorial Board member Zhong Li under the direction of Editor Zengqi Sun.

This work is supported by the National Natural Science Foundation of China under the Grants No. 60974017 and 61004097.

Hongxiang Hu received his B.S. degree in Electronic Engineering from Zhejiang Gongshang University in 2005, an M.S. degree in Mathematics from Hangzhou Dianzi University in 2009, and is currently pursuing a Ph.D. degree in complex systems at Zhejiang University of Technology. His current research interests include multi-agent systems, collective dynamics, complex networks, hybrid and switched systems.

Li Yu received his B.S. degree in Control Theory from Nankai University, and his M.S. and Ph.D. degrees from Zhejiang University, Hangzhou, China, in 1982, 1985, and 1999, respectively. He is currently a Professor in the College of Information Engineering, Zhejiang University of Technology, China. He has authored or co-authored three books and over 200 journal or conference papers. His current research interests include robust control and networked control systems.

Guang Chen received his B.S. degrees in Automation from Zhejiang University of Technology in 2009. Since then, he joins the Intelligence System Lab, College of Computer Science, Zhejiang University of Technology to pursue his Master and Ph. D. degree. His main research interests include complex networks, statistical mechanics of information systems, collective dynamics.

Guangming Xie received his B.S. degrees in Applied Mathematics and Computer Science and Technology, an M.E. degree in Control Theory and Control Engineering, and a Ph.D. degree in Control Theory and Control Engineering from Tsinghua University, Beijing, China in 1996, 1998 and 2001, respectively. Then he worked as a postdoctoral research fellow in the Center for Systems and Control, Department of Mechanics and Engineering Science, Peking University, Beijing, China from July 2001 to June 2003. In July 2003, he joined the Center as a lecturer. Now he is an Associate Professor of Dynamics and Control. He is also a Guest Professor of East China Jiaotong University. He is an Editorial Advisory Board member of the International Journal of Advanced Robotic Systems and an Editorial Board Member of the Open Operational Research Journal. His research interests include hybrid and switched systems, networked control systems, multiagent systems, multirobot systems, and biomimetic robotics.

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Hu, H., Yu, L., Chen, G. et al. Second-order consensus of multi-agent systems with unknown but bounded disturbance. Int. J. Control Autom. Syst. 11, 258–267 (2013). https://doi.org/10.1007/s12555-011-0151-1

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  • DOI: https://doi.org/10.1007/s12555-011-0151-1

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