TY - JOUR
T1 - Consensus of One-Sided Lipschitz Multiagents under Switching Topologies
AU - Razaq, Muhammad Ahsan
AU - Rehan, Muhammad
AU - Ahn, Choon Ki
AU - Khan, Abdul Qayyum
AU - Tufail, Muhammad
N1 - Funding Information:
Manuscript received September 13, 2018; revised November 30, 2018; accepted January 20, 2019. Date of publication March 12, 2019; date of current version February 17, 2021. This work was supported in part by the National Research Foundation of Korea through the Ministry of Science, ICT and Future Planning under Grant NRF-2017R1A1A1A05001325, and in part by the Brain Korea 21 Plus Project in 2019. This paper was recommended by Associate Editor Z.-G. Wu. (Corresponding authors: Muhammad Rehan; Choon Ki Ahn.) M. A. Razaq, M. Rehan, A. Q. Khan, and M. Tufail are with the Department of Electrical Engineering, Pakistan Institute of Engineering and Applied Sciences, Islamabad 45650, Pakistan (e-mail: ahsanrazaq892@gmail.com; rehanqau@gmail.com; aqkhan@pieas.edu.pk; tufail@pieas.edu.pk).
Publisher Copyright:
© 2013 IEEE.
Copyright:
Copyright 2021 Elsevier B.V., All rights reserved.
PY - 2021/3
Y1 - 2021/3
N2 - This paper considers the leader-following consensus of multiagents with one-sided Lipschitz nonlinear dynamics by considering switching topologies. For the suitable selection of the consensus control gain matrix and coupling weight, a new condition for consensus is achieved for switching communication links with a directed spanning tree in the topology by constraining the dwell time. Employing a communication restoration mechanism allows a method to be obtained for the case in which a topology violates a permanent directed spanning tree. Computationally straightforward consensus controller design conditions that are necessary and sufficient for the former conditions are also developed for both cases. These simpler conditions can be used to obtain consensus protocol gains directly through convex routines. An algorithm is also provided to solve nonlinear constraints using the cone complementary linearization approach by considering a nonlinear objective function optimization problem. A numerical simulation is provided for multiagents that demonstrates the proposed control schemes' efficiency.
AB - This paper considers the leader-following consensus of multiagents with one-sided Lipschitz nonlinear dynamics by considering switching topologies. For the suitable selection of the consensus control gain matrix and coupling weight, a new condition for consensus is achieved for switching communication links with a directed spanning tree in the topology by constraining the dwell time. Employing a communication restoration mechanism allows a method to be obtained for the case in which a topology violates a permanent directed spanning tree. Computationally straightforward consensus controller design conditions that are necessary and sufficient for the former conditions are also developed for both cases. These simpler conditions can be used to obtain consensus protocol gains directly through convex routines. An algorithm is also provided to solve nonlinear constraints using the cone complementary linearization approach by considering a nonlinear objective function optimization problem. A numerical simulation is provided for multiagents that demonstrates the proposed control schemes' efficiency.
KW - Leader-following consensus
KW - multiagents
KW - one-sided Lipschitz systems
KW - switching topology
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U2 - 10.1109/TSMC.2019.2897775
DO - 10.1109/TSMC.2019.2897775
M3 - Article
AN - SCOPUS:85101148107
VL - 51
SP - 1485
EP - 1495
JO - IEEE Transactions on Systems, Man, and Cybernetics Part A:Systems and Humans
JF - IEEE Transactions on Systems, Man, and Cybernetics Part A:Systems and Humans
SN - 1083-4427
IS - 3
M1 - 8666133
ER -