Consensus for heterogeneous uncertain multi-agent systems with jointly connected topology

Jae Man Kim, Yoon Ho Choi, Jin Bae Park

Research output: Contribution to journalArticle

Abstract

This paper investigates the consensus problem of heterogeneous uncertain multi-agent systems with jointly connected topology, where the considered systems are composed of linear first-order, secondorder dynamics and nonlinear Euler-Lagrange (EL) dynamics. The consensus protocol is designed to converge the position and velocity states of the linear and nonlinear heterogeneous multi-agent systems under joint connected topology, and then the adaptive consensus protocol is also proposed for heterogeneous multi-agent systems with unknown parameters in the EL dynamics under jointly connected topology. Stability analysis for piecewise continuous functions induced by the jointly connection is presented based on Lyapunov function and Cauchy's convergence criteria. Finally, some simulation results are provided to verify the effectiveness of the proposed methods.

Original languageEnglish
Pages (from-to)346-354
Number of pages9
JournalIEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences
VolumeE99A
Issue number1
DOIs
Publication statusPublished - 2016 Jan

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Uncertain Systems
Multi agent systems
Multi-agent Systems
Heterogeneous Systems
Topology
Lagrange
Euler
Consensus Problem
Convergence Criteria
Piecewise continuous
Lyapunov functions
Unknown Parameters
Lyapunov Function
Cauchy
Stability Analysis
Continuous Function
Verify
First-order
Converge
Simulation

All Science Journal Classification (ASJC) codes

  • Signal Processing
  • Computer Graphics and Computer-Aided Design
  • Electrical and Electronic Engineering
  • Applied Mathematics

Cite this

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Consensus for heterogeneous uncertain multi-agent systems with jointly connected topology. / Kim, Jae Man; Choi, Yoon Ho; Park, Jin Bae.

In: IEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences, Vol. E99A, No. 1, 01.2016, p. 346-354.

Research output: Contribution to journalArticle

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