Adaptive Consensus for Second-order Uncertain Multi-agent Systems under a Directed Graph
作者单位：School of Mechanical Engineering and AutomationHarbin Institute of Technology
会议名称：《第30届中国控制与决策会议》
会议日期：2018年
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 by National Natural Science Foundation of China(61403094) the Shenzhen Municipal Basic Research Projects(JCYJ20160505175231531,JCYJ20170413112722597)
关 键 词：Multi-agent Systems Directed Graph Adaptive Consensus
摘 要：In this paper,we study the consensus problem for second-order multi-agent systems under a directed graph where there exist parametric uncertainties in the agent dynamics.A distributed control algorithm relying on the relative position and velocity measurements is proposed for each *** agents achieve consensus with a common final constant velocity under the condition that the associated graph contains a directed spanning tree and the control gain is above some certain lower bounded,which are the same as the case of double *** consensus convergence is analyzed via Lyapunov stability theory and input-to-state *** results are provided to illustrate the effectiveness of the proposed algorithm.