Designing distributed consensus protocols for second-order nonlinear multi-agents with unknown control directions under directed graphs

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• 作者：Gang Wang^a ; Chaoli Wang^a ; ^{clwang@usst.edu.cn} ; Lin Li^a ; Zhihua Zhang^a ; ^b
• 刊名：Journal of the Franklin Institute
• 出版年：2017
• 出版时间：January 2017
• 年：2017
• 卷：354
• 期：1
• 页码：571-592
• 全文大小：1183 K
• 卷排序：354

文摘

This paper focuses on the leaderless and leader-following consensus problems of second-order nonlinear multi-agents under directed graphs. Both leaderless and leader-following consensus protocols are proposed for multi-agents with unknown control directions based on the Nussbaum-type gains. For the leaderless case, the proposed protocol can guarantee that the consensus errors asymptotically converge to zero. Moreover, for the leader-following case, the Lyapunov stability analysis shows that the consensus tracking errors can be made arbitrarily small by tuning the control parameters. It should also be noted that these proposed protocols do not require any information about the global communication topology and work with only the relative information of neighboring agents. Illustrative examples are given to show the effectiveness of the proposed control protocols.