Adaptive consensus control of leader-following systems with transmission nonlinearities

ABSTRACT

In this paper, the leader-following consensus problem of multi-agent systems is studied. It is assumed that there exist gain and bias transmission nonlinearities in the links in the communication network. Two distributed adaptive control schemes, where the transmission nonlinearities are compensated, are designed to guarantee that the consensus problem is solved and synchronisation errors are cooperatively uniformly and ultimately bounded. By using Lyapunov stability theory, the stability of closed-loop system is proven. The effectiveness of the proposed control methods is demonstrated by simulation results.

KEYWORDS:

• Leader-following consensus
• distributed control
• adaptive control
• transmission nonlinearity

Acknowledgements

This work was partially supported by the Australian Research Council (DP140102180, LP140100471, LE150100079), and the National Natural Science Foundation of China (61473250, 61573112, 61573307).

Disclosure statement

No potential conflict of interest was reported by the authors.

Additional information

Funding

Australian Research Council [grant number DP140102180], [grant number LP140100471], [grant number LE150100079]; the National Natural Science Foundation of China [grant number 61473250], [grant number 61573112], [grant number 61573307].