Agricultural multi-agent systems are expected to be fundamental to future intelligent agriculture and digital farming. This study deals with agricultural multirobots from the perspective of the control algorithm, and ...
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Agricultural multi-agent systems are expected to be fundamental to future intelligent agriculture and digital farming. This study deals with agricultural multirobots from the perspective of the control algorithm, and adaptive leader-following consensus protocol design problems are resolved for nonlinear multiagent systems. A fully distributed edge-based strategy adaptive law is discussed herein;thus, the multiagent consensus can be implemented without knowing global information. Unlike methodologies in existing literature on nonlinear consensus, the proposed methodology is considerably less conservative because of the incremental quadratic constraint containing a wider variety of nonlinearities. This means that, utilizing an incremental multiplier matrix with appropriate values, the control scheme can be applied to a broader class of nonlinear multi-agent systems, which is applicable to more agricultural fields. Finally, a numerical example consisting of six followers and one leader is provided to demonstrate the validity and effectiveness of the proposed protocol under a directed network.
This paper addresses asymptotic consensus for multi-agent systems with the measurement of neighbor information interfered by stochastic noises. Notably, intractable parametric uncertainties are allowed in the agent dy...
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This paper addresses asymptotic consensus for multi-agent systems with the measurement of neighbor information interfered by stochastic noises. Notably, intractable parametric uncertainties are allowed in the agent dynamics, which, coupling with inherent nonlinearities, firmly ask for distributedadaptive compensation. To limit the influence scope of measurement noises on adaptive mechanism, the distributed protocol design is separated into two aspects: (i) Reference consensus based on relative information. Local dynamic generators, providing certain reference signals, are constructed by exploiting the relative information multiplying a subtle time-varying gain. With the measurement noises attenuated via the time-varying gain, all the generators are guaranteed to evolve for all time and reach consensus in the almost sure sense. (ii) Agent tracking based on individual estimate. Utilizing individual information, local adaptive estimates are proposed for the agent uncertainties while not involving the noise measurements. In this way, a distributedadaptive protocol is designed to make each agent state track the corresponding reference signal while preventing the inherent nonlinearities from incurring finite-time explosion, and furthermore, to enable all the agents to reach average consensus in the almost sure sense. (c) 2023 Elsevier B.V. All rights reserved.
This paper is devoted to the leader-follower consensus problem for nonlinear multi agent systems. Remarkably, the control coefficients in the systems are unknown which makes flue problem calker difficult to solve. By ...
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This paper is devoted to the leader-follower consensus problem for nonlinear multi agent systems. Remarkably, the control coefficients in the systems are unknown which makes flue problem calker difficult to solve. By employing the distributed adaptive protocols, the consensus is achieved tinder undirected connected graph for the first order nonlinear multi-agent, systems. Furthermore, similar results for the general case are obtained for the second-order nonlinear multi-agent systems. At last, two simulation examples are given to show the effectiveness of the protocols. (C) 2015, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.
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