TY - GEN
T1 - Robust consensus for uncertain multi-agent systems on directed communication topologies
AU - Zhang, Wenlin
AU - Wang, Zheng
AU - Guo, Yi
PY - 2010
Y1 - 2010
N2 - In this paper, we study the distributed robust consensus for uncertain double integrators on the directed communication topologies. Using the backstepping technique, we construct a control Lyapunov function for the nominal double integrator consensus design. In the presence of model uncertainties, we develop a distributed robust redesign under the assumption that the uncertainty in each agent dynamics is bounded and satisfies the matching condition. Due to the flexibility of backstepping, the proposed redesign is applicable without relative velocity measurement. Simulation results show the effectiveness of the proposed robust control.
AB - In this paper, we study the distributed robust consensus for uncertain double integrators on the directed communication topologies. Using the backstepping technique, we construct a control Lyapunov function for the nominal double integrator consensus design. In the presence of model uncertainties, we develop a distributed robust redesign under the assumption that the uncertainty in each agent dynamics is bounded and satisfies the matching condition. Due to the flexibility of backstepping, the proposed redesign is applicable without relative velocity measurement. Simulation results show the effectiveness of the proposed robust control.
UR - http://www.scopus.com/inward/record.url?scp=79953137788&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=79953137788&partnerID=8YFLogxK
U2 - 10.1109/CDC.2010.5717448
DO - 10.1109/CDC.2010.5717448
M3 - Conference contribution
AN - SCOPUS:79953137788
SN - 9781424477456
T3 - Proceedings of the IEEE Conference on Decision and Control
SP - 6317
EP - 6322
BT - 2010 49th IEEE Conference on Decision and Control, CDC 2010
T2 - 49th IEEE Conference on Decision and Control, CDC 2010
Y2 - 15 December 2010 through 17 December 2010
ER -