Premium
Adaptive stationary consensus protocol for a class of high‐order nonlinear multiagent systems with jointly connected topologies
Author(s) -
Rezaee Hamed,
Abdollahi Farzaneh
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.3626
Subject(s) - network topology , nonlinear system , consensus , affine transformation , multi agent system , protocol (science) , computer science , convergence (economics) , topology (electrical circuits) , class (philosophy) , control theory (sociology) , position (finance) , mathematical optimization , mathematics , computer network , artificial intelligence , control (management) , medicine , physics , alternative medicine , finance , pathology , quantum mechanics , combinatorics , pure mathematics , economics , economic growth
Summary The leaderless consensus problem in a class of dynamic agents with high‐order input‐affine nonlinear models is studied. Based on communication of position information among the agents, an adaptive protocol is proposed that guarantees achieving consensus in the network in the presence of unknown parameters in the agents models. The network topology is considered undirected, which may not be connected constantly. Hence, by invoking the Cauchy convergence criterion, sufficient conditions to achieve consensus in the presence of jointly connected switching topologies are obtained. A numerical example for a team of single‐link flexible joint manipulators with forth‐order nonlinear models is provided to confirm the accuracy of the proposed consensus protocol. Copyright © 2016 John Wiley & Sons, Ltd.