Leader-Following Consensus of Heterogeneous Linear Multiagent Systems With Communication Time-Delays via Adaptive Distributed Observers
| Autor: | Gang Feng, Lu Liu, Xiang Xu, Shuyang Luo |
|---|---|
| Rok vydání: | 2021 |
| Předmět: |
Observer (quantum physics)
Computer science Multi-agent system Stability (learning theory) Network topology Computer Science Applications Computer Science::Multiagent Systems Human-Computer Interaction Consensus Control and Systems Engineering Control theory Key (cryptography) State (computer science) Electrical and Electronic Engineering Software Information Systems |
| Zdroj: | IEEE transactions on cybernetics. 52(12) |
| ISSN: | 2168-2275 |
| Popis: | This article investigates the leader-following consensus problem of heterogeneous linear multiagent systems under switching and directed topologies. It is assumed that the communication between agents suffers from time-varying delays and only the neighboring agents of the leader are able to get access to the information of the leader agent, including its agent matrices. A key technical lemma on the input to state stability of time-delayed systems is first established with which the main results of this article can be obtained. An adaptive distributed observer, taking into consideration of communication time delays, is proposed for each follower to estimate the leader's system matrices and its state. Then, a distributed controller based on this adaptive observer is developed. We show that the resulting closed-loop multiagent system achieves the leader-following output consensus. Two examples are finally given to illustrate the effectiveness of the proposed controller. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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