Consensus for Heterogeneous Uncertain Multi-Agent Systems with Jointly Connected Topology

Jae Man KIM; Yoon Ho CHOI; Jin Bae PARK

doi:10.1587/transfun.E99.A.346

Consensus for Heterogeneous Uncertain Multi-Agent Systems with Jointly Connected Topology

Jae Man KIM, Yoon Ho CHOI, Jin Bae PARK

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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, second-order 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.

Publication: IEICE TRANSACTIONS on Fundamentals Vol.E99-A No.1 pp.346-354

Publication Date: 2016/01/01

Publicized

Online ISSN: 1745-1337

DOI: 10.1587/transfun.E99.A.346

Type of Manuscript: PAPER

Category: Systems and Control

Authors

Jae Man KIM
  Yonsei University
Yoon Ho CHOI
  Kyonggi University
Jin Bae PARK
  Yonsei University

Keyword

consensus, multi-agent systems, heterogeneous, jointly connected, switching topology

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Jae Man KIM, Yoon Ho CHOI, Jin Bae PARK, "Consensus for Heterogeneous Uncertain Multi-Agent Systems with Jointly Connected Topology" in IEICE TRANSACTIONS on Fundamentals, vol. E99-A, no. 1, pp. 346-354, January 2016, doi: 10.1587/transfun.E99.A.346.
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, second-order 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.
URL: https://globals.ieice.org/en_transactions/fundamentals/10.1587/transfun.E99.A.346/_p

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@ARTICLE{e99-a_1_346,
author={Jae Man KIM, Yoon Ho CHOI, Jin Bae PARK, },
journal={IEICE TRANSACTIONS on Fundamentals},
title={Consensus for Heterogeneous Uncertain Multi-Agent Systems with Jointly Connected Topology},
year={2016},
volume={E99-A},
number={1},
pages={346-354},
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, second-order 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.},
keywords={},
doi={10.1587/transfun.E99.A.346},
ISSN={1745-1337},
month={January},}

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TY - JOUR
TI - Consensus for Heterogeneous Uncertain Multi-Agent Systems with Jointly Connected Topology
T2 - IEICE TRANSACTIONS on Fundamentals
SP - 346
EP - 354
AU - Jae Man KIM
AU - Yoon Ho CHOI
AU - Jin Bae PARK
PY - 2016
DO - 10.1587/transfun.E99.A.346
JO - IEICE TRANSACTIONS on Fundamentals
SN - 1745-1337
VL - E99-A
IS - 1
JA - IEICE TRANSACTIONS on Fundamentals
Y1 - January 2016
AB - 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, second-order 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.
ER -