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Group consensus for heterogeneous multi-agent systems with parametric uncertainties.
- Source :
-
Neurocomputing . Oct2014, Vol. 142, p383-392. 10p. - Publication Year :
- 2014
-
Abstract
- In this paper, a group consensus problem is investigated for the heterogeneous agents that are governed by the Euler-Lagrange system and the double-integrator system, respectively, and the parameters of the Euler-Lagrange system are uncertain. To achieve group consensus, a novel group consensus protocol and a time-varying estimator of the uncertain parameters are proposed. By combining algebraic graph theory with the Barbalat lemma, several effective sufficient conditions are obtained. It is found that the time-delay group consensus can be achieved provided that the inner coupling matrices are equal in the different sub-networks. Besides, the switching topologies between homogeneous agents are also considered, with the help of the Barbalat-like lemma, and some relevant results are also obtained. Finally, these theoretical results are demonstrated by the numerical simulations. [ABSTRACT FROM AUTHOR]
Details
- Language :
- English
- ISSN :
- 09252312
- Volume :
- 142
- Database :
- Academic Search Index
- Journal :
- Neurocomputing
- Publication Type :
- Academic Journal
- Accession number :
- 97082844
- Full Text :
- https://doi.org/10.1016/j.neucom.2014.04.021