On consensus control of nonlinear multiagent systems satisfying incremental quadratic constraints |
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| Affiliation: | 1. School of Macaronic Engineering and Automation, Shanghai University, Shanghai 200444, China;2. School of Mechanics and Engineering Science, Shanghai University, Shanghai 200072, China;1. School of Mathematics and Econometrics, Hubei University of Education, Wuhan 430205, P. R. China;2. Hubei Key Laboratory of Advanced Textile Materials & Application, Wuhan Textile University, Wuhan 430200, PR China;3. School of Mechanical Engineering and Electronic Information, China University of Geosciences, Wuhan 430074, PR China;1. the Key Laboratory of Advanced Control and Optimization for Chemical Processes, East China University of Science and Technology, Shanghai 200237, China;2. Shanghai Institute of Space Power-Sources, Shanghai 200245, China;3. State Key Laboratory of Space Power-sources Technology, Shanghai 200245, China;4. Shanghai Power & Energy Storage Battery System Engineering Tech Co. Ltd, Shanghai 200245, China;1. Czech Technical University in Prague, University Centre for Energy Efficient Buildings, Trinecka 1024, Bustehrad 273 43, Czech Republic;2. Czech Technical University in Prague, Faculty of Electrical Engineering, Department of Control Engineering, Karlovo namesti 13, 121 35, Prague 2, Czech Republic;1. Ben-Gurion University of the Negev, Department of Mathematics, Beer-Sheva 84105, Israel;2. Brno University of Technology, Faculty of Electrical Engineering and Communication, Technická 3058/10, Brno, 61600, Czech Republic |
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| Abstract: | In this paper, we investigate the problem of leaderless consensus control for the multiagent systems whose nonlinear dynamics satisfying incremental quadratic constraints. A distributed dynamic consensus protocol, decided by communication among neighboring agents, is presented to render nonlinear agent consensus with appropriate coupling weights. Next, an observer-based distributed protocol is considered to ensure consensus of nonlinear system without knowing full state information. Further, extensions to consensus strategies with nonlinear dynamics for the leader-following fashion are also addressed. By comparison to the traditional nonlinear consensus control methodologies, the proposed approach generalizes the Lipschitz nonlinearity as well as the combined nonlinearity of one-sided Lipschitz condition and quadratic inner-boundness condition towards a more generalized type of nonlinearity, which shows us a less conservative result in the Lyapunov proof. Finally, the numerical simulations for six agents are illustrated to show the feasibility and performance of the proposed control protocol with or without the presence of the observer. |
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