Adaptive second-order consensus of networked mobile agents with nonlinear dynamics. (English) Zbl 1207.93006

Summary: We investigate second-order consensus of multiple nonlinear dynamical mobile agents with a virtual leader in a dynamic proximity network. We assume that only a small fraction of agents in the group have access to the information about the position and velocity of the virtual leader through, for example, certain pre-designed communication mechanism such as wireless broadcasting or sensing. To avoid fragmentation, we propose a connectivity-preserving second-order consensus algorithm. Under the assumption that the initial network is connected, we introduce local adaptation strategies for both the weights on the velocity navigational feedback and the velocity coupling strengths that enable all agents to synchronize with the virtual leader even when only one agent is informed, without requiring any knowledge of the agent dynamics. We finally provide some convincing simulation results to illustrate the theoretical results.


93A14 Decentralized systems
93B51 Design techniques (robust design, computer-aided design, etc.)
93C40 Adaptive control/observation systems
93C15 Control/observation systems governed by ordinary differential equations


Full Text: DOI


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