Guaranteed-cost consensus for multiagent networks with Lipschitz nonlinear dynamics and switching topologies
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Publication:4565841
DOI10.1002/RNC.4051zbMATH Open1391.93021arXiv1802.07916OpenAlexW3124638836MaRDI QIDQ4565841FDOQ4565841
Authors: Jianxiang Xi, Zhiliang Fan, Hao Liu, Tang Zheng 
Publication date: 13 June 2018
Published in: International Journal of Robust and Nonlinear Control (Search for Journal in Brave)
Abstract: Guaranteed-cost consensus for high-order nonlinear multi-agent networks with switching topologies is investigated. By constructing a time-varying nonsingular matrix with a specific structure, the whole dynamics of multi-agent networks is decomposed into the consensus and disagreement parts with nonlinear terms, which is the key challenge to be dealt with. An explicit expression of the consensus dynamics, which contains the nonlinear term, is given and its initial state is determined. Furthermore, by the structure property of the time-varying nonsingular transformation matrix and the Lipschitz condition, the impacts of the nonlinear term on the disagreement dynamics are linearized and the gain matrix of the consensus protocol is determined on the basis of the Riccati equation. Moreover, an approach to minimize the guaranteed cost is given in terms of linear matrix inequalities. Finally, the numerical simulation is shown to demonstrate the effectiveness of theoretical results.
Full work available at URL: https://arxiv.org/abs/1802.07916
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Agent technology and artificial intelligence (68T42) Decentralized systems (93A14) Nonlinear systems in control theory (93C10) Control/observation systems governed by ordinary differential equations (93C15)
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