Distributed adaptive consensus protocols for linear multi-agent systems with directed graphs and a leader of unknown control input

Yuezu Lv; Zhongkui Li; Zhisheng Duan

doi:10.1109/ChiCC.2015.7260802

Distributed adaptive consensus protocols for linear multi-agent systems with directed graphs and a leader of unknown control input

Yuezu Lv, Zhongkui Li, Zhisheng Duan

Peking University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

4 Citations (Scopus)

Abstract

This paper is concerned with the distributed adaptive consensus protocol design problem for linear multi-agent systems with directed graphs in the presence of a leader with nonzero but unknown control input. By introducing appropriate nonsmooth functions, a novel adaptive consensus protocol is proposed, under which leader-follower consensus can be achieved for any communication graph containing a directed spanning tree with the leader as the root node. The adaptive consensus protocol is fully distributed, relying on only the agent dynamics and the relative states of neighboring agents.

Original language	English
Title of host publication	Proceedings of the 34th Chinese Control Conference, CCC 2015
Editors	Qianchuan Zhao, Shirong Liu
Publisher	IEEE Computer Society
Pages	7339-7343
Number of pages	5
ISBN (Electronic)	9789881563897
DOIs	https://doi.org/10.1109/ChiCC.2015.7260802
Publication status	Published - 11 Sept 2015
Externally published	Yes
Event	34th Chinese Control Conference, CCC 2015 - Hangzhou, China Duration: 28 Jul 2015 → 30 Jul 2015

Publication series

Name	Chinese Control Conference, CCC
Volume	2015-September
ISSN (Print)	1934-1768
ISSN (Electronic)	2161-2927

Conference

Conference	34th Chinese Control Conference, CCC 2015
Country/Territory	China
City	Hangzhou
Period	28/07/15 → 30/07/15

Keywords

Multi-agent systems
adaptive control
consensus
cooperative control
distributed control

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10.1109/ChiCC.2015.7260802

Cite this

Lv, Y., Li, Z., & Duan, Z. (2015). Distributed adaptive consensus protocols for linear multi-agent systems with directed graphs and a leader of unknown control input. In Q. Zhao, & S. Liu (Eds.), Proceedings of the 34th Chinese Control Conference, CCC 2015 (pp. 7339-7343). Article 7260802 (Chinese Control Conference, CCC; Vol. 2015-September). IEEE Computer Society. https://doi.org/10.1109/ChiCC.2015.7260802

@inproceedings{56ec85dfff824f17add4f0ab608e4466,

title = "Distributed adaptive consensus protocols for linear multi-agent systems with directed graphs and a leader of unknown control input",

abstract = "This paper is concerned with the distributed adaptive consensus protocol design problem for linear multi-agent systems with directed graphs in the presence of a leader with nonzero but unknown control input. By introducing appropriate nonsmooth functions, a novel adaptive consensus protocol is proposed, under which leader-follower consensus can be achieved for any communication graph containing a directed spanning tree with the leader as the root node. The adaptive consensus protocol is fully distributed, relying on only the agent dynamics and the relative states of neighboring agents.",

keywords = "Multi-agent systems, adaptive control, consensus, cooperative control, distributed control",

author = "Yuezu Lv and Zhongkui Li and Zhisheng Duan",

note = "Publisher Copyright: {\textcopyright} 2015 Technical Committee on Control Theory, Chinese Association of Automation.; 34th Chinese Control Conference, CCC 2015 ; Conference date: 28-07-2015 Through 30-07-2015",

year = "2015",

month = sep,

day = "11",

doi = "10.1109/ChiCC.2015.7260802",

language = "English",

series = "Chinese Control Conference, CCC",

publisher = "IEEE Computer Society",

pages = "7339--7343",

editor = "Qianchuan Zhao and Shirong Liu",

booktitle = "Proceedings of the 34th Chinese Control Conference, CCC 2015",

address = "United States",

}

Lv, Y, Li, Z & Duan, Z 2015, Distributed adaptive consensus protocols for linear multi-agent systems with directed graphs and a leader of unknown control input. in Q Zhao & S Liu (eds), Proceedings of the 34th Chinese Control Conference, CCC 2015., 7260802, Chinese Control Conference, CCC, vol. 2015-September, IEEE Computer Society, pp. 7339-7343, 34th Chinese Control Conference, CCC 2015, Hangzhou, China, 28/07/15. https://doi.org/10.1109/ChiCC.2015.7260802

Distributed adaptive consensus protocols for linear multi-agent systems with directed graphs and a leader of unknown control input. / Lv, Yuezu; Li, Zhongkui; Duan, Zhisheng.
Proceedings of the 34th Chinese Control Conference, CCC 2015. ed. / Qianchuan Zhao; Shirong Liu. IEEE Computer Society, 2015. p. 7339-7343 7260802 (Chinese Control Conference, CCC; Vol. 2015-September).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Lv, Yuezu

AU - Li, Zhongkui

AU - Duan, Zhisheng

PY - 2015/9/11

Y1 - 2015/9/11

N2 - This paper is concerned with the distributed adaptive consensus protocol design problem for linear multi-agent systems with directed graphs in the presence of a leader with nonzero but unknown control input. By introducing appropriate nonsmooth functions, a novel adaptive consensus protocol is proposed, under which leader-follower consensus can be achieved for any communication graph containing a directed spanning tree with the leader as the root node. The adaptive consensus protocol is fully distributed, relying on only the agent dynamics and the relative states of neighboring agents.

AB - This paper is concerned with the distributed adaptive consensus protocol design problem for linear multi-agent systems with directed graphs in the presence of a leader with nonzero but unknown control input. By introducing appropriate nonsmooth functions, a novel adaptive consensus protocol is proposed, under which leader-follower consensus can be achieved for any communication graph containing a directed spanning tree with the leader as the root node. The adaptive consensus protocol is fully distributed, relying on only the agent dynamics and the relative states of neighboring agents.

KW - Multi-agent systems

KW - adaptive control

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KW - cooperative control

KW - distributed control

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M3 - Conference contribution

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BT - Proceedings of the 34th Chinese Control Conference, CCC 2015

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T2 - 34th Chinese Control Conference, CCC 2015

Y2 - 28 July 2015 through 30 July 2015

ER -

Distributed adaptive consensus protocols for linear multi-agent systems with directed graphs and a leader of unknown control input

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Keywords

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