Abstract
This paper considers a consensus problem of leader-following multiagent system with unknown dynamics and jointly connected topologies. The multiagent system includes a self-active leader with an unknown acceleration and a group of autonomous followers with unknown time-varying disturbances; the network topology associated with the multiagent system is time varying and not strongly connected during each time interval. By using linearly parameterized models to describe the unknown dynamics of the leader and all followers, we propose a decentralized adaptive tracking control protocol by using only the relative position measurements and analyze the stability of the tracking error and convergence of the adaptive parameter estimators with the help of Lyapunov theory. Finally, some simulation results are presented to demonstrate the proposed adaptive tracking control.
Highlights
As one kind of the major research content of distributed coordination control for multiagent systems, leader-following problem had attracted a host of researchers
This paper considers a consensus problem of leader-following multiagent system with unknown dynamics and jointly connected topologies
We study the adaptive tracking control designed for a second-order leader-following system in jointly connected topology
Summary
As one kind of the major research content of distributed coordination control for multiagent systems, leader-following problem had attracted a host of researchers. Ren proposed and analyzed consensus tracking algorithms in [1] and solved the leader-following problem that only a few agents can obtain a time-varying consensus reference state. Hong et al investigated the leader-following problem, using an “observer” to solve how to track the leader with unknown velocity in [2]. Hu and Hong considered a leader-following consensus problem of a group of autonomous agents with time-varying coupling delays in [3] and investigated two different cases of coupling topologies. Peng and Yang studied the problem of multiple time-varying delays for secondorder multiagent systems in [4]. Song et al achieved leaderfollowing consensus in a network of agents with nonlinear second-order dynamics in [5] by presenting a pinning control algorithm
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