Bipartite Tracking Consensus Control of Nonlinear High-Order Multi-Agent Systems Subject to Exogenous Disturbances

Qiang Wang,Jiapeng Xu,Wangli He,Weimin Zhong,Dayu Tan

doi:10.1109/access.2019.2944759

Abstract

This study concentrates on the bipartite tracking consensus for nonlinear high-order multi-agent systems(MASs) subject to exogenous disturbances over a signed directed graph. First, under the condition of nonlinear dynamics, two new control protocols are proposed to guarantee high-order bipartite tracking consensus under two cases with and without exogenous disturbances, respectively. Second, a disturbance observer is designed to estimate the external disturbances which originated from an external system. Third, to provide some efficient criteria for high-order bipartite consensus of MASs, we propose a novel pinning nodes selected scheme and get the lower bound of the pinning gains. Furthermore, by virtue of Lyapunov stability theory and graph theory, sufficient conditions for bipartite tracking consensus control of nonlinear high-order MASs subject to external disturbances are presented. Finally, simulations are performed for demonstration.

Highlights

Up to now, MASs have attracted a great devotion due to its widespread applications in consensus [1], [2], sensor networks [3], unmanned air vehicles (UAV) [4], flocking/swarming control [5], and synchronization [6]
Remark 2: Different from [35]–[38], which calculated the bounds of disturbance by a series of complex derivation, we propose a disturbance observer to estimate the external disturbance generated by linear exogenous system, which can ensure the agents to accommodate the changes of environments and distributed cooperative tasks
Assume that a group of agents consisting of one leader and five followers are involved in the networked MAS, where the five followers indexed by 1, 2, · · ·, 5, and one leader labeled by 0

Summary

Introduction

MASs have attracted a great devotion due to its widespread applications in consensus [1], [2], sensor networks [3], unmanned air vehicles (UAV) [4], flocking/swarming control [5], and synchronization [6]. The consensus problem of MASs has been a hot research topic in the filed of cooperative control [7]. Inspired by diverse consensus control problems of MASs, such as consensus control with linear dynamics [8], nonlinear dynamics [9], [10], time-delay consensus [11], and higherorder consensus [12], [13], which generalizes the existing first-order [14] and second-order [15]consensus results, has received an increasing research interest. The MASs with semi-Lipschitz nonlinear dynamics [20], [21] has been a significant application in cooperative consensus control

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Conclusion