Coordination of heterogeneous nonlinear multi-agent systems with prescribed behaviours

DOI10.1080/00207179.2016.1239839zbMATH Open1380.93021arXiv1610.01553OpenAlexW2761122649MaRDI QIDQ3132970FDOQ3132970

Authors: Yutao Tang 

Publication date: 12 February 2018

Published in: International Journal of Control (Search for Journal in Brave)

Abstract: In this paper, we consider a coordination problem for a class of heterogeneous nonlinear multi-agent systems with a prescribed input-output behavior which was represented by another input-driven system. In contrast to most existing multi-agent coordination results with an autonomous (virtual) leader, this formulation takes possible control inputs of the leader into consideration. First, the coordination was achieved by utilizing a group of distributed observers based on conventional assumptions of model matching problem. Then, a fully distributed adaptive extension was proposed without using the input of this input-output behavior. An example was given to verify their effectiveness.

Full work available at URL: https://arxiv.org/abs/1610.01553

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zbMATH Keywords

adaptive controlnonlinear dynamicsheterogeneous multi-agent systeminput-output behavior

Mathematics Subject Classification ID

Agent technology and artificial intelligence (68T42) Decentralized systems (93A14) Nonlinear systems in control theory (93C10) Control/observation systems governed by ordinary differential equations (93C15) Adaptive control/observation systems (93C40)

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Cited In (3)

• Neural‐network‐based constrained optimal coordination for heterogeneous uncertain nonlinear multi‐agent systems
• Dynamic coordination among heterogeneous agents
• Practical time-varying formation tracking for high-order nonlinear multi-agent systems based on the distributed extended state observer

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