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.
2021
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]
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11588/838534
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