Directed spanning tree-based adaptive protocols for second-order consensus of multiagent systems

作者：Yu, Zhiyong; Jiang, Haijun^*; Huang, Da; Hu, Cheng

来源：International Journal of Robust and Nonlinear Control, 2018, 28(6): 2172-2190.

DOI：10.1002/rnc.4009

• adaptive control
• consensus
• directed spanning tree
• multiagent systems

This paper discusses the consensus problem of second-order multiagent systems with nonlinear dynamics. A directed spanning tree-based adaptive control protocol is developed, which overcomes the drawback that the spectrum of the Laplacian matrix must be known a priori. A scheme for reordering the nodes is proposed. Applying the developed method and the Lyapunov stability theory, some distributed adaptive laws are designed in the directed network. It is found that the consensus can be achieved by randomly choosing a directed spanning tree and using the developed distributed adaptive law. Finally, an example is presented to illustrate the theoretical analysis.

• 出版日期2018-4-1
• 单位新疆大学