Abstract
This paper studies the leader-following consensus problem for a class of second-order nonlinear multi-agent systems subject to linearly parameterized uncertainty and disturbance. The problem is solved by integrating the adaptive control technique and the adaptive distributed observer method. The design procedure is illustrated by an example with a group of Van der Pol oscillators as the followers and a harmonic system as the leader.
Article PDF
Similar content being viewed by others
Avoid common mistakes on your manuscript.
References
A. Jadbabaie, J. Lin, A. S. Morse. Coordination of groups of mobile agents using nearest neighbor rules. IEEE Transactions on Automatic Control, 2003, 48(6): 988–1001.
R. Olfati-Saber, R. M. Murray. Consensus problems in networks of agents with switching topology and time-delays. IEEE Transactions on Automatic Control, 2004, 49(9): 1520–1533.
W. Ren. On consensus algorithms for double-integrator dynamics. IEEE Transactions on Automatic Control, 2008, 53(6): 1503–1509.
Y. Su, J. Huang. Stability of a class of linear switching systems with applications to two consensus problems. IEEE Transactions on Automatic Control, 2012, 57(6): 1420–1430.
Y. Hong, G. Chen, L. Bushnell. Distributed observers design for leader-following control of multi-agent networks. Automatica, 2008, 44(3): 846–850.
J. Hu, Y. Hong. Leader-following coordination of multi-agent systems with coupling time delays. Physica A: Statistical Mechanics and its Applications, 2007, 374(2): 853–863.
W. Ni, D. Cheng. Leader-following consensus of multi-agent systems under fixed and switching topologies. Systems & Control Letters, 2010, 59(3/4): 209–217.
J. Mei, W. Ren, G. Ma. Distributed coordination for second-order multi-agent systems with nonlinear dynamics using only relative position measurements. Automatica, 2013, 49(7): 2107–2115.
Q. Song, J. Cao, W. Yu. Second-order leader-following consensus of nonlinear multi-agents via pinning control. Systems & Control Letters, 2010, 59(9): 553–562.
W. Yu, W. Ren, W. Zheng, et al. Distributed control gains design for consensus in multi-agent systems with second-order nonlinear dynamics. Automatica, 2013, 49(5): 1419–1427.
C. Wang, H. Ji. Robust consensus tracking for a class of heterogeneous second-order nonlinear multi-agent systems. International Journal of Robust and Nonlinear Control, 2015, 25(17): 3367–3383.
Y. Su, J. Huang. Cooperative global output regulation of heterogenous second-order nonlinear uncertain multi-agent systems. Automatica, 2012, 49(11): 3345–3350.
X. Wang, D. Xu, Y. Hong. Consensus control of nonlinear leader-follower multi-agent systems with actuating disturbances. Systems & Control Letters, 2014, 73: 58–66.
H. Cai, F. L. Lewis, G. Hu, et al. The adaptive distributed observer approach to the cooperative output regulation of linear multi-agent systems. Automatica, 2016: DOI 10.1016/ j.automatica.2016.09.038.
C. Godsil, G. Royle. Algebraic Graph Theory. New York: Springer, 2001.
Y. Su, J. Huang. Cooperative output regulation of linear multiagent systems. IEEE Transactions on Automatic Control, 2012, 57(4): 1062–1066.
J. Wang, K. Chen, Q. Ma. Adaptive leader-following consensus of multi-agent systems with unknown nonlinear dynamics. Entropy, 2014, 16(9): 5020–5031.
J. Huang. Nonlinear Output Regulation: Theory and Applications. Phildelphia: SIAM, 2004.
Author information
Authors and Affiliations
Corresponding author
Additional information
This work was supported by the Research Grants Council of the Hong Kong Special Administration Region (No. 14202914).
Wei LIU received the B.Eng. degree in 2009 from Southeast University, Nanjing, China, the M.Eng. degree in 2012 from University of Science and Technology of China, Hefei, China, and Ph.D. degree in 2016 from The Chinese University of Hong Kong, Hong Kong, China. He is now a Postdoctoral Fellow at The Chinese University of Hong Kong. His research interests include cooperative control, output regulation, multi-agent systems, and switched systems.
Jie HUANG is Choh-Ming Li professor and chairman of the Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China. His research interests include nonlinear control theory and applications, multiagent systems, and flight guidance and control. Dr. Huang is a Fellow of IEEE, a Fellow of IFAC, and a Fellow of CAA.
Rights and permissions
About this article
Cite this article
Liu, W., Huang, J. Leader-following consensus for uncertain second-order nonlinear multi-agent systems. Control Theory Technol. 14, 279–286 (2016). https://doi.org/10.1007/s11768-016-6082-x
Received:
Revised:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s11768-016-6082-x