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Consensus tracking for multiagent systems with nonlinear dynamics.

Dong R - ScientificWorldJournal (2014)

Bottom Line: This paper concerns the problem of consensus tracking for multiagent systems with a dynamical leader.In particular, it proposes the corresponding explicit control laws for multiple first-order nonlinear systems, second-order nonlinear systems, and quite general nonlinear systems based on the leader-follower and the tree shaped network topologies.Several numerical simulations are given to verify the theoretical results.

View Article: PubMed Central - PubMed

Affiliation: The State Key Laboratory for Turbulence and Complex System, Department of Mechanics and Engineering Science, College of Engineering, Peking University, Beijing 100871, China.

ABSTRACT
This paper concerns the problem of consensus tracking for multiagent systems with a dynamical leader. In particular, it proposes the corresponding explicit control laws for multiple first-order nonlinear systems, second-order nonlinear systems, and quite general nonlinear systems based on the leader-follower and the tree shaped network topologies. Several numerical simulations are given to verify the theoretical results.

Show MeSH
Consensus tracking for the second-order nonlinear systems.
© Copyright Policy - open-access
Related In: Results  -  Collection


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fig3: Consensus tracking for the second-order nonlinear systems.

Mentions: The second example is also given for the graph in Figure 1, which characterizes the communication channel among the three followers and a leader. The dynamics of each follower and the leader are specified by the following equations, respectively:(53)x˙i=vi,v˙i=xisin(t)+vicos⁡(t)+ui,x˙r=vr,v˙r=xrsin(t)+vrcos⁡(t)+ur.Note that(54)M=[20−102−1−1−12],and λM = 3.4142, ρ1 = ρ2 = 1. Choose α = 1; then it is easy to compute that(55)c1=0.7735,  c2=0.4921,  c3=5.5217,c4=0.1497,  c5=6.6787,  c6=2.4142.Choose γ = 0.45 ∈ {γ∣max⁡(0, c4) < γ < min⁡{c1, c2, c3, c5, c6}}. Given the initial values as , , , , , and , the results of consensus tracking are shown in Figure 3.


Consensus tracking for multiagent systems with nonlinear dynamics.

Dong R - ScientificWorldJournal (2014)

Consensus tracking for the second-order nonlinear systems.
© Copyright Policy - open-access
Related In: Results  -  Collection

Show All Figures
getmorefigures.php?uid=PMC4150520&req=5

fig3: Consensus tracking for the second-order nonlinear systems.
Mentions: The second example is also given for the graph in Figure 1, which characterizes the communication channel among the three followers and a leader. The dynamics of each follower and the leader are specified by the following equations, respectively:(53)x˙i=vi,v˙i=xisin(t)+vicos⁡(t)+ui,x˙r=vr,v˙r=xrsin(t)+vrcos⁡(t)+ur.Note that(54)M=[20−102−1−1−12],and λM = 3.4142, ρ1 = ρ2 = 1. Choose α = 1; then it is easy to compute that(55)c1=0.7735,  c2=0.4921,  c3=5.5217,c4=0.1497,  c5=6.6787,  c6=2.4142.Choose γ = 0.45 ∈ {γ∣max⁡(0, c4) < γ < min⁡{c1, c2, c3, c5, c6}}. Given the initial values as , , , , , and , the results of consensus tracking are shown in Figure 3.

Bottom Line: This paper concerns the problem of consensus tracking for multiagent systems with a dynamical leader.In particular, it proposes the corresponding explicit control laws for multiple first-order nonlinear systems, second-order nonlinear systems, and quite general nonlinear systems based on the leader-follower and the tree shaped network topologies.Several numerical simulations are given to verify the theoretical results.

View Article: PubMed Central - PubMed

Affiliation: The State Key Laboratory for Turbulence and Complex System, Department of Mechanics and Engineering Science, College of Engineering, Peking University, Beijing 100871, China.

ABSTRACT
This paper concerns the problem of consensus tracking for multiagent systems with a dynamical leader. In particular, it proposes the corresponding explicit control laws for multiple first-order nonlinear systems, second-order nonlinear systems, and quite general nonlinear systems based on the leader-follower and the tree shaped network topologies. Several numerical simulations are given to verify the theoretical results.

Show MeSH