스위칭 제어기를 이용한 선형 다개체 시스템의 일치

Abstract

This paper addresses the adaptive consensus problem of linear multiagent systems using a switching controller. The proposed controller has an adaptive gain that is adjusted in a piecewise constant manner using the switching logic. Moreover, the proposed controller is fully distributed since it uses only local information from neighboring agents and needs no network topology information. The Lyapunov method is used to show that the proposed controller ensures consensus among agents and the boundedness of the adaptive gain. In addition, the proposed switching logic does not exhibit the Zeno phenomenon. Finally, a simulation example is given to validate our control method.