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Finite time consensus of nonlinear multi-agent systems in the presence of communication time delays
European Journal of Control ( IF 3.4 ) Pub Date : 2019-11-14 , DOI: 10.1016/j.ejcon.2019.10.009
Maryam Sharifi , Mohammad J. Yazdanpanah

In this paper, the finite-time leader-follower consensus of nonlinear Lagrangian multi-agent systems in the presence of communication time delays and dynamic parameter uncertainties is considered. In this regard, three different cases are studied. In the first case, all follower agents are considered informed, i.e., they receive the leader signals. The second case reads a situation where some followers are informed and the others are uninformed, and there is a directed spanning tree topology. In the third case, a new adaptive algorithm in the presence of dynamic parameter uncertainties is proposed. In all these cases, the finite-time consensus of the position and velocity signals is shown. All proofs are derived using the Lyapunov technique without the need to LMIs formulation, a common framework for the stability analysis of delay systems, which is often hard to get feasibility conditions of their solution. At last, in the line of verification of the theoretical results, simulation results on a group of ten identical planar 2-DOF manipulators as the agents of the system are presented.



中文翻译:

存在通信时延的非线性多智能体系统的有限时间一致性

本文考虑了存在通信时延和动态参数不确定性的非线性拉格朗日多智能体系统的有限时间前导跟随共识。在这方面,研究了三种不同的情况。在第一种情况下,所有关注者代理都被视为知情的,他们收到领导者的信号。第二种情况是这样一种情况,其中一些从动者被通知,而另一些从动者不知情,并且存在定向生成树拓扑。在第三种情况下,提出了一种在动态参数不确定的情况下的自适应算法。在所有这些情况下,都将显示位置和速度信号的有限时间一致性。所有证明都是使用Lyapunov技术导出的,而无需LMI公式,这是延迟系统稳定性分析的通用框架,通常很难获得其解决方案的可行性条件。最后,在对理论结果进行验证的基础上,给出了一组十个相同的平面2-DOF机械臂作为系统主体的仿真结果。

更新日期:2019-11-14
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