Adaptive tracking control of leader-following linear multi-agent systems with external disturbances
May 30, 2016Author：
Title: Adaptive tracking control of leader-following linear multi-agent systems with external disturbances Authors: Lin, HQ; Wei, QL; Liu, DR; Ma, HW Author Full Names: Lin, Hanquan; Wei, Qinglai; Liu, Derong; Ma, Hongwen Source: INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE, 47 ( 13): ; 10.1080/00207721.2015.1102358 2016 Language: English Abstract: In this paper, the consensus problem for leader-following linear multi-agent systems with external disturbances is investigated. Brownian motions are used to describe exogenous disturbances. A distributed tracking controller based on Riccati inequalities with an adaptive law for adjusting coupling weights between neighbouring agents is designed for leader-following multi-agent systems under fixed and switching topologies. In traditional distributed static controllers, the coupling weights depend on the communication graph. However, coupling weights associated with the feedback gain matrix in our method are updated by state errors between neighbouring agents. We further present the stability analysis of leader-following multi-agent systems with stochastic disturbances under switching topology. Most traditional literature requires the graph to be connected all the time, while the communication graph is only assumed to be jointly connected in this paper. The design technique is based on Riccati inequalities and algebraic graph theory. Finally, simulations are given to show the validity of our method. ISSN: 0020-7721 eISSN: 1464-5319 IDS Number: DK4CH Unique ID: WOS:000374863900007