Observer-Based Consensus Tracking of Nonlinear Agents in Hybrid Varying Directed Topology

doi:10.1109/TCYB.2016.2573138

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	Observer-Based Consensus Tracking of Nonlinear Agents in Hybrid Varying Directed Topology
	Cao, Yang 1; Zhang, Liangyin 1; Li, Chanying2 ; Chen, Michael Z. Q.1
	2017-08-01
发表期刊	IEEE TRANSACTIONS ON CYBERNETICS
ISSN	2168-2267
卷号	47 期号:8 页码:2212-2222
摘要	The 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.
关键词	Distributed observer generalized linear incremental condition hybrid varying topology leader-following consensus nonlinear multiagent systems online leader selection
DOI	10.1109/TCYB.2016.2573138
语种	英语
资助项目	Research 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研究方向	Computer Science
WOS类目	Computer Science, Artificial Intelligence ; Computer Science, Cybernetics
WOS记录号	WOS:000405458200038
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
引用统计
文献类型	期刊论文
条目标识符	http://ir.amss.ac.cn/handle/2S8OKBNM/25958
专题	系统科学研究所
通讯作者	Cao, Yang
作者单位	1.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
推荐引用方式 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.