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Directed spanning tree–based adaptive protocols for second‐order consensus of multiagent systems
Author(s) -
Yu Zhiyong,
Jiang Haijun,
Huang Da,
Hu Cheng
Publication year - 2017
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.4009
Subject(s) - spanning tree , laplacian matrix , consensus , computer science , multi agent system , lyapunov stability , tree (set theory) , nonlinear system , a priori and a posteriori , adaptive control , protocol (science) , mathematical optimization , control theory (sociology) , mathematics , control (management) , theoretical computer science , artificial intelligence , graph , medicine , mathematical analysis , philosophy , physics , alternative medicine , epistemology , combinatorics , quantum mechanics , pathology
Summary This paper discusses the consensus problem of second‐order multiagent systems with nonlinear dynamics. A directed spanning tree–based adaptive control protocol is developed, which overcomes the drawback that the spectrum of the Laplacian matrix must be known a priori. A scheme for reordering the nodes is proposed. Applying the developed method and the Lyapunov stability theory, some distributed adaptive laws are designed in the directed network. It is found that the consensus can be achieved by randomly choosing a directed spanning tree and using the developed distributed adaptive law. Finally, an example is presented to illustrate the theoretical analysis.