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Volume 1 Issue 2
Apr.  2014

IEEE/CAA Journal of Automatica Sinica

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Article Navigation >  IEEE/CAA Journal of Automatica Sinica  > 2014  >  1(2): 187-192
Chuanrui Wang, Xinghu Wang and Haibo Ji, "A Continuous Leader-following Consensus Control Strategy for a Class of Uncertain Multi-agent Systems," IEEE/CAA J. of Autom. Sinica, vol. 1, no. 2, pp. 187-192, 2014.
Citation: Chuanrui Wang, Xinghu Wang and Haibo Ji, "A Continuous Leader-following Consensus Control Strategy for a Class of Uncertain Multi-agent Systems," IEEE/CAA J. of Autom. Sinica, vol. 1, no. 2, pp. 187-192, 2014.
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A Continuous Leader-following Consensus Control Strategy for a Class of Uncertain Multi-agent Systems

  • 1. Department of Automation, University of Science and Technology of China, Hefei 230027, China;

  • 2. Institute of Systems Science, Chinese Academy of Sciences, Beijing 100190, China;

  • 3. Department of Automation, University of Science and Technology of China, Hefei 230027, China

Funds:

This work was supported by National Natural Science Foundation of China (61273090).

    Abstract
  • In this paper, we study the robust leader-following consensus problem for a class of multi-agent systems with unknown nonlinear dynamics and unknown but bounded disturbances. The control input of the leader agent is nonzero and not available to any follower agent. We first consider a class of high order chain integrator-type multi-agent systems. By employing the robust integral of the sign of the error technique, a continuous distributed control law is constructed using local information obtained from neighboring agents. Using Lyapunov analysis theory, we show that under a connected undirected information communication topology, the proposed protocol achieves semiglobal leader-following consensus. We then extend the approach to a class of more general uncertain multiagent systems. A numerical example is given to verify our proposed protocol.

     

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