TY - JOUR
T1 - Leader-following asynchronous consensus for multiagent systems with unknown control and output directions
AU - Li, Kuo
AU - Hua, Chang Chun
AU - You, Xiu
AU - Ahn, Choon Ki
N1 - Funding Information:
Chang-Chun Hua received the Ph.D degree in electrical engineering from Yanshan University, Qinhuangdao, China, in 2005. He was a research Fellow in National University of Singapore from 2006 to 2007. From 2007 to 2009, he worked in Carleton University, Canada, funded by Province of Ontario Ministry of Research and Innovation Program. From 2009 to 2010, he worked in University of Duisburg–Essen, Germany, funded by Alexander von Humboldt Foundation. Now he is a full Professor in Yanshan University, China. He is the author or coauthor of more than 120 papers in mathematical, technical journals, and conferences. He has been involved in more than 15 projects supported by the National Natural Science Foundation of China, the National Education Committee Foundation of China, and other important foundations. He is a Cheung Kong Scholars Programme Special appointment professor. His research interests are in nonlinear systems control, multiagent systems, control systems design over network, teleoperation systems and intelligent control.
Funding Information:
Thank the editor, associate editor and anonymous reviewers for their valuable comments. In particular, we need to thank one reviewer for providing a rigorous proof that the matrix in Lemma 1 is Hurwitz. This work was supported in part by the National Key Research and Development Program of China under Grant 2018YFB1308300 , in part by the National Research Foundation of Korea (NRF) grant funded by the Korean Government (Ministry of Science and ICT) under Grant NRF-2020R1A2C1005449 , in part by the National Natural Science Foundation of China under Grant U20A20187 and Grant 618255304 , in part by the Science Fund for Creative Research Groups, China of Hebei Province under Grant F2020203013 , in part by the Science and Technology Development grant of Hebei Province, China under Grant 20311803D and Grant 19011824Z , in part by the National Defence Fundamental Project, China under Grant 2020A130 , and in part by the Post-Doctoral Innovative Talent Support Program of China under Grant BX20200201 .
Publisher Copyright:
© 2021
PY - 2021/10
Y1 - 2021/10
N2 - This paper focuses on the distributed consensus problem for multiagent systems subject to high-order integrator dynamics and unknown control and output directions based on switching topologies. Unlike existing works, both control and output directions are unknown in the systems and delay is considered between the switching of candidate K-filters and that of topologies. In these conditions, we produced a fresh distributed consensus algorithm by the correlative output information. By designing asynchronous switched K-filters and classical K-filters, the state variables of the leader and all followers are reconstructed. Based on the backstepping method and the Nussbaum-type functions, we put forward the distributed controller with K-filters for the follower. Then, we scrupulously prove that all agents can acquire consensus driven by the controller if the switching signal satisfies an average dwell time condition. Finally, the correctness of the algorithm is tested based on a numerical simulation.
AB - This paper focuses on the distributed consensus problem for multiagent systems subject to high-order integrator dynamics and unknown control and output directions based on switching topologies. Unlike existing works, both control and output directions are unknown in the systems and delay is considered between the switching of candidate K-filters and that of topologies. In these conditions, we produced a fresh distributed consensus algorithm by the correlative output information. By designing asynchronous switched K-filters and classical K-filters, the state variables of the leader and all followers are reconstructed. Based on the backstepping method and the Nussbaum-type functions, we put forward the distributed controller with K-filters for the follower. Then, we scrupulously prove that all agents can acquire consensus driven by the controller if the switching signal satisfies an average dwell time condition. Finally, the correctness of the algorithm is tested based on a numerical simulation.
KW - Asynchronous switched K-filter
KW - Output feedback consensus control
KW - Switching topologies
KW - Unknown control and output directions
UR - http://www.scopus.com/inward/record.url?scp=85111716418&partnerID=8YFLogxK
U2 - 10.1016/j.automatica.2021.109832
DO - 10.1016/j.automatica.2021.109832
M3 - Article
AN - SCOPUS:85111716418
VL - 132
JO - Automatica
JF - Automatica
SN - 0005-1098
M1 - 109832
ER -