Robust adaptive leaderless consensus of unknown non-minimum phase linear multi-agent systems subject to disturbances and/or unmodeled dynamics

Wenji Cao, Gang Feng
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Abstract

This article investigates the problem of robust adaptive leaderless consensus for heterogeneous uncertain non-minimum phase linear multi-agent systems over directed communication graphs. Each agent is assumed to be of unknown nominal dynamics and also subject to external disturbances and/or unmodeled dynamics. A novel distributed robust adaptive control strategy is proposed. It is shown that the robust adaptive leaderless consensus problem is solved with the proposed control strategy under some sufficient conditions. Two examples are provided to demonstrate the efficacy of the proposed control strategy.

受干扰和/或未建模动态影响的未知非最小相位线性多代理系统的鲁棒自适应无领导共识
本文研究了有向通信图上异构不确定非最小相位线性多代理系统的鲁棒自适应无领导共识问题。假定每个代理都具有未知的标称动态,同时还受到外部干扰和/或未建模动态的影响。研究提出了一种新型分布式鲁棒自适应控制策略。研究表明,在一些充分条件下,所提出的控制策略可以解决鲁棒自适应无领导共识问题。本文提供了两个实例来证明所提控制策略的有效性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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