Consensus for Heterogeneous Uncertain Multi-Agent Systems with Jointly Connected Topology

Jae Man KIM  Yoon Ho CHOI  Jin Bae PARK  

IEICE TRANSACTIONS on Fundamentals of Electronics, Communications and Computer Sciences   Vol.E99-A   No.1   pp.346-354
Publication Date: 2016/01/01
Online ISSN: 1745-1337
DOI: 10.1587/transfun.E99.A.346
Type of Manuscript: PAPER
Category: Systems and Control
consensus,  multi-agent systems,  heterogeneous,  jointly connected,  switching topology,  

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This paper investigates the consensus problem of heterogeneous uncertain multi-agent systems with jointly connected topology, where the considered systems are composed of linear first-order, second-order dynamics and nonlinear Euler-Lagrange (EL) dynamics. The consensus protocol is designed to converge the position and velocity states of the linear and nonlinear heterogeneous multi-agent systems under joint connected topology, and then the adaptive consensus protocol is also proposed for heterogeneous multi-agent systems with unknown parameters in the EL dynamics under jointly connected topology. Stability analysis for piecewise continuous functions induced by the jointly connection is presented based on Lyapunov function and Cauchy's convergence criteria. Finally, some simulation results are provided to verify the effectiveness of the proposed methods.