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Consensus of a class of second‐order nonlinear heterogeneous multi‐agent systems with uncertainty and communication delay
Author(s) -
Meng H.,
Chen Z.,
Zhu L.,
Middleton R.
Publication year - 2016
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.3508
Subject(s) - nonlinear system , scalar (mathematics) , control theory (sociology) , mathematics , class (philosophy) , multi agent system , consensus , set (abstract data type) , stability (learning theory) , mathematical optimization , linear matrix inequality , lyapunov stability , protocol (science) , computer science , control (management) , physics , geometry , quantum mechanics , artificial intelligence , machine learning , programming language , medicine , alternative medicine , pathology
Summary In this paper, a consensus problem is studied for a group of second‐order nonlinear heterogeneous agents with non‐uniform time delay in communication links and uncertainty in agent dynamics. We design a class of novel decentralized control protocols for the consensus problem whose solvability is converted into stability analysis of an associated closed‐loop system with uncertainty and time delay. Using an explicitly constructed Lyapunov functional, the stability conditions or the solvability conditions of the consensus problem are given in terms of a set of linear matrix inequalities apart from a small number of scalar parameters that appear nonlinearly. Furthermore, the linear matrix inequalities are theoretically verified to be solvable when the communication delay is sufficiently small. The effectiveness of the proposed control protocol is illustrated by numerical examples. Copyright © 2016 John Wiley & Sons, Ltd.