Leaderless Consensus for Second-Order Inertia Uncertain Multi-Agent Systems Under Directed Graphs Without Relative Velocity Information

作     者：Tian, Kaixin Guo, Zhenhong Mei, Jie Jiang, Chunjing Ma, Guangfu 

作者机构：Harbin Inst Technol Sch Mech Engn & Automat Shenzhen 518055 Guangdong Peoples R China Huawei Device Co Ltd Dongguan 523000 Guangdong Peoples R China TravelSky Technol Ltd Beijing 101318 Peoples R China 

出 版 物：《IEEE TRANSACTIONS ON NETWORK SCIENCE AND ENGINEERING》 (IEEE Trans. Netw. Sci. Eng.)

年 卷 期：2021年第8卷第4期

页      面：3417-3429页

核心收录：

学科分类：0808[工学-电气工程] 08[工学] 0701[理学-数学] 

基　　金：National Key R&D Program of China [2018AAA0102704] National Natural Science Foundation of China [62073098, U1913209, U1813220] Foundation Research Project of Shenzhen [JCYJ20200109113210134, JCYJ20180306171828190] Natural Science Foundation of Guangdong [2019A1515012076] 

主　　题：Directed graphs Switches Uncertainty Heuristic algorithms Multi-agent systems Consensus algorithm Velocity measurement Multi-agent systems leaderless consensus directed graphs uncertainties 

摘      要：In this paper, we investigate the leaderless consensus problem for second-order multi-agent systems (MASs) with unknown inertias and parametric uncertainties. The graph that describes the interaction among the agents is generally directed. We consider both fixed and switching graphs. For a fixed directed topology, the associated graph needs to contain a spanning tree. For dynamically switching topologies, the uniform joint connectivity is required. We proposed consensus algorithms without relative velocity measurements, which are fully distributed in the sense that no common control gains are used and no global gain dependency conditions are required. The cases of agent dynamics with unknown nonidentical control directions and the asymptotic consensus in the presence of external disturbances are further investigated.