Consensus of high-order nonlinear multiagent systems with constrained switching topologies
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Publication:2012804
Summary: The relationship between control and communication constraints is becoming of central importance in the consensus problem of networked agents. In this paper, we investigate such a problem for nonlinear multiagent systems with Lipschitz dynamics. To reflect communication constraints, the topology is assumed to switch within a finite set of digraphs characterized by an average dwell time switching signal. By constructing a suitable multiple Lyapunov function, we show that consensus can be reached under the designed consensus protocol. A multistep algorithm for designing consensus protocol is then developed by solving the Lyapunov equation and algebraic Riccati equation. Finally, simulation examples are delineated to substantiate the effectiveness of the proposed algorithms.
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Cited in
(11)- Formation tracking of heterogeneous mobile agents using distance and area constraints
- Consensus control of multiagent systems with high-order nonlinear inaccurate dynamics and dynamically switching undirected topologies
- A consensus protocol considering Lipschitz constant and communication topology condition of high-order nonlinear multi-agent systems
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