Bounded Consensus of Linear Multi-Agent Systems with External Disturbances Through a Reduced-Order Adaptive Feedback Protocol

Xianwei Li, Sandra Hirche

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

2 Scopus citations

Abstract

In this paper, we study the bounded consensus control problem of linear multi-agent systems with external disturbances. Provided that the external disturbances are bounded, bounded consensus means the consensus errors and other system parameters are also guaranteed to be bounded. A novel reduced-order adaptive output-feedback protocol is proposed for ensuring bounded consensus of the closed-loop system. Then a sufficient condition is established for the existence of the proposed protocol and an estimation of the domain to which the consensus errors and the adaptive gains finally converge is presented. Compared with the existing results, the proposed protocol provides a tractable characterization for both full- and reduced-order adaptive dynamic output-feedback protocols. Moreover, since designing the protocol gains does not require to know the communication graph, the proposed protocol can be designed and implemented in a fully distributed way. Finally, a numerical example clearly illustrates the effectiveness of the proposed protocol.

Original languageEnglish
Title of host publicationProceedings of the 37th Chinese Control Conference, CCC 2018
EditorsXin Chen, Qianchuan Zhao
PublisherIEEE Computer Society
Pages6960-6965
Number of pages6
ISBN (Electronic)9789881563941
DOIs
StatePublished - 5 Oct 2018
Event37th Chinese Control Conference, CCC 2018 - Wuhan, China
Duration: 25 Jul 201827 Jul 2018

Publication series

NameChinese Control Conference, CCC
Volume2018-July
ISSN (Print)1934-1768
ISSN (Electronic)2161-2927

Conference

Conference37th Chinese Control Conference, CCC 2018
Country/TerritoryChina
CityWuhan
Period25/07/1827/07/18

Keywords

  • Adaptive control
  • Bounded consensus
  • Multi-agent systems
  • Output feedback
  • Reduced order

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