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Observer-Based Consensus Tracking of Nonlinear Agents in Hybrid Varying Directed Topology
Cao, Yang1; Zhang, Liangyin1; Li, Chanying2; Chen, Michael Z. Q.1
2017-08-01
Source PublicationIEEE TRANSACTIONS ON CYBERNETICS
ISSN2168-2267
Volume47Issue:8Pages:2212-2222
AbstractThe problem of leader-following consensus of nonlinear agents in hybrid varying directed topology is considering not only the agent but also that the directed edges can have a time-varying nonlinear dynamics with jump discontinuity, which contains the switching topology as its special case. This paper has the following contributions toward this problem. The leader-following consensus problem in hybrid varying directed topology is first addressed, and an online leader switching method is proposed, which reduces the dependence on some global conditions and the connectivity assumptions on the selection of leaders. Second, we generalize the Lipschitz condition and the combined condition of one-sided Lipschitz and quadratically inner-boundedness conditions to a new generalized linear incremental condition, which gives us a more generalized result in the Lyapunov proof and better performance in simulation. Third, an observer-based consensus protocol is constructed with two sufficient observability and controllability conditions and two optimal control design algorithms. Finally, an example of teleoperating multirobotic manipulator joint network is provided to illustrate the performance improvement by comparing with the existing results.
KeywordDistributed observer generalized linear incremental condition hybrid varying topology leader-following consensus nonlinear multiagent systems online leader selection
DOI10.1109/TCYB.2016.2573138
Language英语
Funding ProjectResearch Grants Council, Hong Kong, through the General Research Fund[17205414] ; HKU CRCG Seed Funding Programme for Basic Research[201411159037] ; National Natural Science Foundation of China[61374053]
WOS Research AreaComputer Science
WOS SubjectComputer Science, Artificial Intelligence ; Computer Science, Cybernetics
WOS IDWOS:000405458200038
PublisherIEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Citation statistics
Cited Times:49[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.amss.ac.cn/handle/2S8OKBNM/25958
Collection系统科学研究所
Affiliation1.Univ Hong Kong, Dept Mech Engn, Hong Kong, Hong Kong, Peoples R China
2.Chinese Acad Sci, Acad Math & Syst Sci, Beijing 100190, Peoples R China
Recommended Citation
GB/T 7714
Cao, Yang,Zhang, Liangyin,Li, Chanying,et al. Observer-Based Consensus Tracking of Nonlinear Agents in Hybrid Varying Directed Topology[J]. IEEE TRANSACTIONS ON CYBERNETICS,2017,47(8):2212-2222.
APA Cao, Yang,Zhang, Liangyin,Li, Chanying,&Chen, Michael Z. Q..(2017).Observer-Based Consensus Tracking of Nonlinear Agents in Hybrid Varying Directed Topology.IEEE TRANSACTIONS ON CYBERNETICS,47(8),2212-2222.
MLA Cao, Yang,et al."Observer-Based Consensus Tracking of Nonlinear Agents in Hybrid Varying Directed Topology".IEEE TRANSACTIONS ON CYBERNETICS 47.8(2017):2212-2222.
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