Distributed Consensus Tracking for Second-Order Nonlinear Multiagent Systems with a Specified Reference State | Zendy

Guoguang Wen | Zendy; Yongguang Yu | Zendy; Zhaoxia Peng | Zendy; Ahmed Rahmani | Zendy

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Distributed Consensus Tracking for Second-Order Nonlinear Multiagent Systems with a Specified Reference State

Author(s) -

Guoguang Wen,

Yongguang Yu,

Zhaoxia Peng,

Ahmed Rahmani

Publication year - 2014

Publication title -

mathematical problems in engineering

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.262

H-Index - 62

eISSN - 1026-7077

pISSN - 1024-123X

DOI - 10.1155/2014/320687

Subject(s) - nonlinear system , multi agent system , consensus , protocol (science) , control theory (sociology) , position (finance) , lyapunov function , graph theory , computer science , graph , mathematical proof , simple (philosophy) , directed graph , algebraic graph theory , trajectory , state (computer science) , mathematics , theoretical computer science , control (management) , algorithm , artificial intelligence , philosophy , alternative medicine , pathology , geometry , epistemology , quantum mechanics , medicine , physics , finance , combinatorics , astronomy , economics

This paper mainly addresses the distributed consensus tracking problem for second-order nonlinear multiagent systems with a specified reference trajectory. The dynamics of each follower consists of two terms: nonlinear inherent dynamics and a simple communication protocol relying only on the position and velocity information of its neighbors. The consensus reference is taken as a virtual leader, whose output is only its position and velocity information that is available to only a subset of a group of followers. To achieve consensus tracking, a class of nonsmooth control protocols is proposed which reply on the relative information among the neighboring agents. Then some corresponding sufficient conditions are derived. It is shown that if the communication graph associated with the virtual leader and followers is connected at each time instant, the consensus can be achieved at least globally exponentially with the proposed protocol. Rigorous proofs are given by using graph theory, matrix theory, and Lyapunov theory. Finally, numerical examples are presented to illustrate the theoretical analysis

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