Robust Positive Consensus for Heterogeneous Multi-agent Systems
This paper investigates a robust positive consensus problem for a class of heterogeneous high-order multi-agent systems subject to external inputs. Compared with existing multi-agent consensus results, the most distinct feature of the formulated problem is that the state variables of all heterogeneous agents are confined in the positive orthant. To solve this problem, we present a two-step design procedure. By constructing an auxiliary multi-agent system as positive local reference generators, we incorporate the reference generator into some applicable decentralized robust tracking controller for each agent. The proposed distributed algorithm is proven to ensure a robust consensus fulfilling certain prescribed pattern for the multi-agent system under switching topology in the sense of finite-gain stability with respect to the external inputs. A simulation example is finally given to illustrate the effectiveness of our design.
Code (0)
등록된 구현이 없습니다.
Similar Papers 제목 키워드 기반
Observer-based Leader-following Consensus for Positive Multi-agent Systems Over Time-varying Graphs
This paper addresses the leader-following consensus problem for discrete-time positive multi-agent systems over time-varying graphs. We assume that the followers may have mutually different positive dynamics which can al…
Practical Output Consensus of Nonlinear Heterogeneous Multi-Agent Systems with Limited Data Rate
This paper investigates the consensus problem for nonlinear heterogeneous multi-agent systems with limited communication data rate. Each agent is modeled by a higher-order strict-feedback continuous-time system with unkn…
Distributed Adaptive Consensus with Obstacle and Collision Avoidance for Networks of Heterogeneous Multi-Agent Systems
This paper presents a distributed adaptive control strategy for multi-agent systems with heterogeneous dynamics and collision avoidance. We propose an adaptive control strategy designed to ensure leader-following formati…
Collision AvoidanceMulti-agent consensus with heterogeneous time-varying input and communication delays in digraphs
This paper investigates the distributed consensus tracking control problem for general linear multi-agent systems (MASs) with external disturbances and heterogeneous time-varying input and communication delays under a di…
Observer-Based Consensus of Nonlinear Positive Multi-Agent Systems with Saturated Control Input
This paper presents the distributed pinning consensus solution for nonlinear positive multi-agent systems with nonlinear control input by applying observer-based control protocols. The network topology is considered as a…