Adaptive leader-following rendezvous and flocking for a class of uncertain second-order nonlinear multi-agent systems

作     者：Liu, Wei Huang, Jie 

作者机构：Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Shatin N.T. Hong Kong China 

出 版 物：《Control Theory and Technology》 (控制理论与技术（英文版）)

年 卷 期：2017年第15卷第4期

页      面：354-363页

核心收录：

学科分类：0820[工学-石油与天然气工程] 02[经济学] 0201[经济学-理论经济学] 0802[工学-机械工程] 0825[工学-航空宇航科学与技术] 0811[工学-控制科学与工程] 

基　　金：supported by the Research Grants Council of the Hong Kong Special Administration Region 

主　　题：Adaptive control connectivity preservation multi-agent systems nonlinear systems 

摘      要：In this paper, we study the leader-following rendezvous and flocking problems for a class of second-order nonlinear multi- agent systems, which contain both external disturbances and plant uncertainties. What differs our problems from the conventional leader-following consensus problem is that we need to preserve the connectivity of the communication graph instead of assuming the connectivity of the communication graph. By integrating the adaptive control technique, the distributed observer method and the potential function method, the two problems are both solved. Finally, we apply our results to a group of van der Pol oscillators.