Robust consensus for uncertain multi-agent systems on directed communication topologies

Wenlin Zhang, Zheng Wang, Yi Guo

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

27 Scopus citations

Abstract

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.

Original languageEnglish
Title of host publication2010 49th IEEE Conference on Decision and Control, CDC 2010
Pages6317-6322
Number of pages6
DOIs
StatePublished - 2010
Event49th IEEE Conference on Decision and Control, CDC 2010 - Atlanta, United States
Duration: 15 Dec 201017 Dec 2010

Publication series

NameProceedings of the IEEE Conference on Decision and Control
ISSN (Print)0743-1546
ISSN (Electronic)2576-2370

Conference

Conference49th IEEE Conference on Decision and Control, CDC 2010
Country/TerritoryUnited States
CityAtlanta
Period15/12/1017/12/10

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