TY - GEN
T1 - Fully Distributed Consensus of Multi-agent Systems
T2 - 2024 IEEE International Conference on Unmanned Systems, ICUS 2024
AU - Bao, Yuangui
AU - Zheng, Dezhi
AU - Lu, Shijia
N1 - Publisher Copyright:
© 2024 IEEE.
PY - 2024
Y1 - 2024
N2 - This paper studies the fully distributed leader-following consensus problem of multi-agent systems based on the relative output information. To conquer this issue, a prescribed-time observer-based adaptive consensus protocol is suggested. Specifically, regarding the control inputs of neighboring nodes as unknown input, a prescribed-time unknown input observer (UIO) is constructed to reconstruct the consensus error in the finite convergence time which can be determined in advance and is independent on the initial values. Then, based on the estimated consensus error, the fully distributed control protocol is developed, where the adaptive coupling gain is employed to avoid the dependence on the global information. Furthermore, sufficient conditions are derived to guarantee the leader-following consensus. Finally, the numerical simulations are provided to illustrate the effectiveness of the designed control protocol.
AB - This paper studies the fully distributed leader-following consensus problem of multi-agent systems based on the relative output information. To conquer this issue, a prescribed-time observer-based adaptive consensus protocol is suggested. Specifically, regarding the control inputs of neighboring nodes as unknown input, a prescribed-time unknown input observer (UIO) is constructed to reconstruct the consensus error in the finite convergence time which can be determined in advance and is independent on the initial values. Then, based on the estimated consensus error, the fully distributed control protocol is developed, where the adaptive coupling gain is employed to avoid the dependence on the global information. Furthermore, sufficient conditions are derived to guarantee the leader-following consensus. Finally, the numerical simulations are provided to illustrate the effectiveness of the designed control protocol.
KW - fully distributed control
KW - leader-following consensus
KW - multi-agent system
KW - prescribed-time convergence
KW - unknown input observer
UR - http://www.scopus.com/inward/record.url?scp=85217990655&partnerID=8YFLogxK
U2 - 10.1109/ICUS61736.2024.10839837
DO - 10.1109/ICUS61736.2024.10839837
M3 - Conference contribution
AN - SCOPUS:85217990655
T3 - Proceedings of 2024 IEEE International Conference on Unmanned Systems, ICUS 2024
SP - 119
EP - 124
BT - Proceedings of 2024 IEEE International Conference on Unmanned Systems, ICUS 2024
A2 - Song, Rong
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 18 October 2024 through 20 October 2024
ER -