Data-Driven Leader-Follower Output Synchronization for Networked Non-Linear Multi-Agent Systems with Switching Topology and Time-Varying Delays

作     者：LI Chang-Jiang LIU Guo-Ping 

作者机构：Center for Control Theory and Guidance Technology Harbin Institute of Technology Harbin 150001 China School of Engineering University of South Wales Pontypridd CF37 1DL UK Center for Control Theory and Guidance Technology Harbin Institute of Technology Harbin 150001 China 

出 版 物：《Journal of Systems Science & Complexity》 (系统科学与复杂性学报（英文版）)

年 卷 期：2018年第31卷第1期

页      面：87-102页

核心收录：

学科分类：12[管理学] 1201[管理学-管理科学与工程(可授管理学、工学学位)] 081104[工学-模式识别与智能系统] 08[工学] 0835[工学-软件工程] 0811[工学-控制科学与工程] 0812[工学-计算机科学与技术（可授工学、理学学位）] 

基　　金：supported in part by the National Natural Science Foundation of China under Grant Nos.61333003 and 61773144 

主　　题：Data driven networked nonlinear multi agent system output synchronization switching topology time varying delay 

摘      要：This paper studies the output synchronization problem for a class of networked non-linear multi-agent systems with switching topology and time-varying delays. To synchronize the outputs,a leader is introduced whose connectivity to the followers varies with time, and a novel data-driven consensus protocol based on model free adaptive control is proposed, where the reference input of each follower is designed to be the time-varying average of the neighboring agents＇ outputs. Both the case when the leader is with a prescribed reference input and the case otherwise are *** proposed protocol allows for time-varying delays, switching topology, and does not use the agent structure or the dynamics information implicitly or explicitly. Sufficient conditions are derived to guarantee the closed-loop stability, and conditions for consensus convergence are obtained, where only a joint spanning tree is required. Numerical simulations and practical experiments are conducted to demonstrate the effectiveness of the proposed protocol.