Abstract
This paper proposes some novel decentralized adaptive control protocols to settle the quasi-consensus problem of multiagent systems with heterogeneous nonlinear dynamics. Based on local communication with the leader and between the followers, some innovative control protocols are put forward to adapt the control gains and coupling weights simultaneously and to steer the consensus errors to some bounded areas. In particular, two new inequalities are proposed to establish the Lyapunov-based adaptive controller design approach for quasi-consensus. Some quasi-consensus criteria are derived by utilizing the designed controllers, in which the error bound can be modulated on the basis of the adaptive controller parameters. Numerical tests are conducted to show the feasibility of the theoretical derivation. Our findings highlight quasi-consensus in heterogeneous multiagent systems without adding some additional complex nonlinear control terms to cancel the dynamical differences between agents.
Highlights
IntroductionCollaborative control of multiagent systems (MASs) has become a research hotspot of distributed artificial intelligence because of its wide application in intelligent energy, multirobot formation, intelligent transportation, multiunmanned system collaboration, and other engineering systems [1,2,3,4,5]
Collaborative control of multiagent systems (MASs) has become a research hotspot of distributed artificial intelligence because of its wide application in intelligent energy, multirobot formation, intelligent transportation, multiunmanned system collaboration, and other engineering systems [1,2,3,4,5].Among them, consensus or synchronization is a key common scientific issue of cooperative control of MASs, which has aroused great concern of multidisciplinary scholars
The aforesaid works [1,2,3,4,5,6,7,8,9,10,11,12,13,14] on the consensus of MASs mainly concentrate upon the case in which an agent has the same dynamics as all the neighbors or the leader
Summary
Collaborative control of multiagent systems (MASs) has become a research hotspot of distributed artificial intelligence because of its wide application in intelligent energy, multirobot formation, intelligent transportation, multiunmanned system collaboration, and other engineering systems [1,2,3,4,5]. There are few thorough research studies on complete consensus in HMASs because one has to add some additional complex nonlinear control terms or design compensators to cancel the dynamical differences [18,19,20,21,22,23,24,25,26] Another alternative technique to deal with the heterogeneity is to transform HMASs to homogeneous ones [27, 28]. Motivated by the applications of decentralized adaptive control for synchronization in integer-order and fractionalorder complex dynamical networks [39,40,41,42,43], this paper aims to design some decentralized adaptive protocols to reach QC in HMASs. Different from some previous studies [37, 44, 45], in our controller, the coupling and feedback values between agents change adaptively. Some innovative control protocols are introduced to accommodate the control gains and coupling weights adaptively, to steer the consensus errors to some bounded areas. ird, some QC criteria under the designed controllers are derived by the Lyapunov function method and the new inequalities
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