Observer-based node-to-node consensus of multi-agent systems with intermittent networks
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. RESEARCH PAPER .
November 2020, Vol. 63 212204:1–212204:11 https://doi.org/10.1007/s11432-019-2845-6
Observer-based node-to-node consensus of multi-agent systems with intermittent networks Lingling YAO1* & Peijun WANG2 1 School of Mathematics, Southeast University, Nanjing 210096, China; School of Mathematics and Statistics, Anhui Normal University, Wuhu 241000, China
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Received 22 December 2019/Revised 6 February 2020/Accepted 29 February 2020/Published online 28 September 2020
Abstract In this paper, we investigate the problem of achieving node-to-node consensus (NNC) in two-layer multiple-input-multiple-output (MIMO) multi-agent systems (MASs) with Lipschitz nonlinear dynamics and intermittent directed networks, where the cooperative goal is to make each follower to track a specified leader. By using the relative outputs, discontinuous observers are given to reconstruct the full states of followers and then feedback controllers are designed. Furthermore, some NNC criteria are given by investigating stability of the error system. To verify the obtained results, a simulation is performed. Keywords consensus
two layer, multi-agent system, multiple Lyapunov function, intermittent network, node-to-node
Citation Yao L L, Wang P J. Observer-based node-to-node consensus of multi-agent systems with intermittent networks. Sci China Inf Sci, 2020, 63(11): 212204, https://doi.org/10.1007/s11432-019-2845-6
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Introduction
Cooperative analysis of large scale networked systems has attracted numerous attention from many scientific fields [1,2], such as control systems [3–5], neural networks [6,7], applied mathematics [8], and information science [9–11]. Typical cooperative behaviors include consensus of multi-agent systems (MASs) [3] and synchronization of complex networks [12, 13] which are aimed at achieving a state agreement among multiple agents. As a fundamental cooperative behavior, consensus of MASs has been applied in various engineering scenarios such as unmanned systems formation [14] and economic dispatch in smart grids [15]. One of the main scientific problems concerning cooperative analysis is to achieve consensus in MASs with complex dynamics under a complicated communication environment [3, 16, 17]. Recently, many efficient consensus criteria and controllers have been proposed for the case in which MASs have one or no leader agent. However, concerning particular practical scenarios such as the formation of a team of robots, MASs may need to have multiple leaders, and therefore the containment control problem needs to be further considered [18–24]. Within a containment control framework, followers may not be able to track a maneuvering target precisely. To mitigate this deficiency, the node-to-node consensus (NNC) control strategies have been proposed recently [25, 26]. Within the NNC framework, followers may be unable to follow the same leader or to converge into the convex region. However, their main purpose is to track a particular leader precisely, and therefore NNC has a broader application range c
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