Distributed adaptive switching consensus control of heterogeneous multi-agent systems with switched leader dynamics
Date of Original Version
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.
Nonlinear Analysis: Hybrid Systems
Yuan, Chengzhi. "Distributed adaptive switching consensus control of heterogeneous multi-agent systems with switched leader dynamics." Nonlinear Analysis: Hybrid Systems 26, (2017): 274-283. doi:10.1016/j.nahs.2017.06.003.