Distributed adaptive switching consensus control of heterogeneous multi-agent systems with switched leader dynamics |
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| Institution: | 1. School of Electrical and Computer Engineering, RMIT University, Melbourne, Victoria 3001, Australia;2. Department of Automation, School of Power and Mechanical Engineering, Wuhan University, Wuhan 430072, China;3. Texas A&M University at Qatar, PO Box 23874 Doha, Qatar;4. Key Laboratory of Measurement and Control of Complex Systems of Engineering, Ministry of Education, Nanjing 210096, PR China;1. School of Automation Engineering, University of Electronic Science and Technology of China, Sichuan 611731, PR China;2. Project management center, Equipment Development Department of China, Beijing 100142, PR China |
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| Abstract: | In this paper, the leader-following distributed consensus control problem is addressed for general linear multi-agent systems with heterogeneous uncertain agent dynamics and switched leader dynamics. Different from most existing results with a single linear time-invariant (LTI) leader dynamics, the leader dynamics under consideration is composed by a family of LTI models and a switching logic governing the switches among them, which is capable of generating more diverse and sophisticated reference signals to accommodate more complicated consensus control design tasks. A novel distributed adaptive switching consensus protocol is developed by incorporating the model reference adaptive control mechanism and arbitrary switching control technique, which can be synthesized by following a two-layer hierarchical design scheme. A numerical example has been used to demonstrate the effectiveness of the proposed approach. |
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| Keywords: | Multi-agent systems Model reference adaptive control Switched systems |
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