This paper addresses the leader-tracking problem of high-order nonlinear Lipschitz agents sharing their state information through a delayed communication network. The multiple delays associated to each communication link are considered as time-varying functions. The problem is solved through a fully distributed adaptive protocol on the basis of a node-based local adaptation method that is independent of any global information and does not require any knowledge or estimation of the nonlinear agent dynamics. The stability of the closed-loop delayed Multi-Agent System (MAS) is proven to leverage the Lyapunov–Krasovskii approach combined with the Barbalat's Lemma. Stability conditions are expressed as a set of feasible Linear Matrix Inequalities (LMIs) derived via the free weighted matrices method. Exemplary numerical simulations confirm the effectiveness of the theoretical results.
Distributed leader-tracking adaptive control for high-order nonlinear Lipschitz multi-agent systems with multiple time-varying communication delays / Fiengo, G.; Lui, D. G.; Petrillo, A.; Santini, S.. - In: INTERNATIONAL JOURNAL OF CONTROL. - ISSN 0020-7179. - 94:7(2021), pp. 1880-1892. [10.1080/00207179.2019.1683608]
Distributed leader-tracking adaptive control for high-order nonlinear Lipschitz multi-agent systems with multiple time-varying communication delays
Lui D. G.;Petrillo A.;Santini S.
2021
Abstract
This paper addresses the leader-tracking problem of high-order nonlinear Lipschitz agents sharing their state information through a delayed communication network. The multiple delays associated to each communication link are considered as time-varying functions. The problem is solved through a fully distributed adaptive protocol on the basis of a node-based local adaptation method that is independent of any global information and does not require any knowledge or estimation of the nonlinear agent dynamics. The stability of the closed-loop delayed Multi-Agent System (MAS) is proven to leverage the Lyapunov–Krasovskii approach combined with the Barbalat's Lemma. Stability conditions are expressed as a set of feasible Linear Matrix Inequalities (LMIs) derived via the free weighted matrices method. Exemplary numerical simulations confirm the effectiveness of the theoretical results.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.