Title

Distributed adaptive switching consensus control of heterogeneous multi-agent systems with switched leader dynamics

Document Type

Article

Date of Original Version

11-1-2017

Abstract

In this paper, the leader-following distributed consensus control problem is addressed for general linear multi-agent systems with heterogeneous uncertain agent dynamics and switched leader dynamics. Different from most existing results with a single linear time-invariant (LTI) leader dynamics, the leader dynamics under consideration is composed by a family of LTI models and a switching logic governing the switches among them, which is capable of generating more diverse and sophisticated reference signals to accommodate more complicated consensus control design tasks. A novel distributed adaptive switching consensus protocol is developed by incorporating the model reference adaptive control mechanism and arbitrary switching control technique, which can be synthesized by following a two-layer hierarchical design scheme. A numerical example has been used to demonstrate the effectiveness of the proposed approach.

Publication Title, e.g., Journal

Nonlinear Analysis: Hybrid Systems

Volume

26

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