Leader-follower consensus control of Lipschitz nonlinear systems by output feedback

ABSTRACT This paper deals with the leader-follower consensus problem of Lipschitz nonlinear systems under fixed directed communication networks. Both state and output feedback control are proposed based on state and output measurements of neighbouring agents, respectively. Laplacian matrix features are explored for the stability analysis, and the sufficient conditions are derived to solve the consensus problem. Finally, simulation results are included to demonstrate the effectiveness of the output-based consensus controller.

[1]  Frank L. Lewis,et al.  Finite-time distributed consensus via binary control protocols , 2011, Autom..

[2]  Lihua Xie,et al.  Global $H_\infty$ Consensus of Multi-Agent Systems with Lipschitz Nonlinear Dynamics , 2012 .

[3]  Lihua Xie,et al.  Distributed consensus for multi-agent systems with delays and noises in transmission channels , 2011, Autom..

[4]  Kevin L. Moore,et al.  High-Order and Model Reference Consensus Algorithms in Cooperative Control of MultiVehicle Systems , 2007 .

[5]  Zengqiang Chen,et al.  Reaching a consensus via pinning control , 2009, Autom..

[6]  Lin Huang,et al.  Consensus of Multiagent Systems and Synchronization of Complex Networks: A Unified Viewpoint , 2016, IEEE Transactions on Circuits and Systems I: Regular Papers.

[7]  Zhengtao Ding,et al.  Consensus Control of a Class of Lipschitz Nonlinear Systems With Input Delay , 2015, IEEE Trans. Circuits Syst. I Regul. Pap..

[8]  G. Sallet,et al.  Observers for Lipschitz non-linear systems , 2002 .

[9]  Zhengtao Ding.  Nonlinear and Adaptive Control Systems , 2013 .

[10]  James Lam,et al.  Semi-Global Leader-Following Consensus of Linear Multi-Agent Systems With Input Saturation via Low Gain Feedback , 2013, IEEE Transactions on Circuits and Systems I: Regular Papers.

[11]  Zhengtao Ding,et al.  Consensus Output Regulation of a Class of Heterogeneous Nonlinear Systems , 2013, IEEE Transactions on Automatic Control.

[12]  Mengyin Fu,et al.  Consensus of Multi-Agent Systems With General Linear and Lipschitz Nonlinear Dynamics Using Distributed Adaptive Protocols , 2011, IEEE Transactions on Automatic Control.

[13]  Daizhan Cheng,et al.  Leader-following consensus of multi-agent systems under fixed and switching topologies , 2010, Syst. Control. Lett..

[14]  Yi Dong,et al.  Cooperative Global Output Regulation for a Class of Nonlinear Multi-Agent Systems , 2014, IEEE Transactions on Automatic Control.

[15]  Lihua Xie,et al.  Global H∞ Consensus of Multi-Agent Systems with Lipschitz Nonlinear Dynamics , 2012, ArXiv.

[16]  W. He,et al.  Consensus control for high-order multi-agent systems [Brief Paper] , 2011 .

[17]  R. Rajamani,et al.  Observer design for Lipschitz nonlinear systems using Riccati equations , 2010, Proceedings of the 2010 American Control Conference.

[18]  Yang Liu,et al.  H ∞ consensus control for multi-agent systems with linear coupling dynamics and communication delays , 2012, Int. J. Syst. Sci..

[19]  Ella M. Atkins,et al.  Distributed multi‐vehicle coordinated control via local information exchange , 2007 .

[20]  Jinde Cao,et al.  Second-order leader-following consensus of nonlinear multi-agent systems via pinning control , 2010, Syst. Control. Lett..

[21]  Zhisheng Duan,et al.  Leader-follower consensus of multi-agent systems , 2009, 2009 American Control Conference.

[22]  Richard M. Murray,et al.  Information flow and cooperative control of vehicle formations , 2004, IEEE Transactions on Automatic Control.

[23]  W. Ren.  Consensus strategies for cooperative control of vehicle formations , 2007 .

[24]  Gordon F. Royle,et al.  Algebraic Graph Theory , 2001, Graduate texts in mathematics.

[25]  Jie Huang,et al.  The leader-following attitude control of multiple rigid spacecraft systems , 2014, Autom..

[26]  Yingmin Jia,et al.  Robust L 2 − L ∞ consensus control for uncertain high-order multi-agent systems with time-delay , 2014, Int. J. Syst. Sci..

[27]  Charles R. Johnson,et al.  Matrix analysis , 1985, Statistical Inference for Engineers and Data Scientists.

[28]  Frank L. Lewis,et al.  Optimal Design for Synchronization of Cooperative Systems: State Feedback, Observer and Output Feedback , 2011, IEEE Transactions on Automatic Control.

[29]  Zhong-Ping Jiang,et al.  Distributed output regulation of leader–follower multi‐agent systems , 2013 .

[30]  R. Murray,et al.  Agreement problems in networks with directed graphs and switching topology , 2003, 42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475).

[31]  Long Cheng,et al.  Neural-Network-Based Adaptive Leader-Following Control for Multiagent Systems With Uncertainties , 2010, IEEE Transactions on Neural Networks.

[32]  Jiangping Hu,et al.  Tracking control for multi-agent consensus with an active leader and variable topology , 2006, Autom..

[33]  Yongcan Cao,et al.  Multi-Agent Consensus Using Both Current and Outdated States with Fixed and Undirected Interaction , 2010, J. Intell. Robotic Syst..

[34]  Zongyu Zuo,et al.  Distributed robust finite-time nonlinear consensus protocols for multi-agent systems , 2016, Int. J. Syst. Sci..

[35]  R. Rajamani.  Observers for Lipschitz nonlinear systems , 1998, IEEE Trans. Autom. Control..

[36]  Wei Ren,et al.  Multi-vehicle consensus with a time-varying reference state , 2007, Syst. Control. Lett..

[37]  Richard M. Murray,et al.  Consensus problems in networks of agents with switching topology and time-delays , 2004, IEEE Transactions on Automatic Control.

[38]  R. Rajamani,et al.  Existence and design of observers for nonlinear systems: Relation to distance to unobservability , 1998 .

[39]  Ming Wang,et al.  Containment control of multi-agent systems in a noisy communication environment , 2014, Autom..