关键词: 多智能体系统, 一致性, 分布式控制, 自适应控制, 领导者

Abstract: The leader-follower tracking problems of second-order multi-agent systems with intrinsic nonlinear dynamics are studied. It assumes that each following agent can access the relative position and velocity information with its neighbors, the position and velocity information of the leader is only accessed by a subset of the following agents, and the leader’s non-zero reference input cannot be available by any following agents. To track the active leader, a distributed adaptive consensus protocol is proposed for each following agent in the case that the interaction relationship among agents is undirected connected graph. The protocol effectively avoids the uncertainty of global information. The consensus tracking problem can be transformed into the stability problem of error system. Based on the theory of Lyapunov stability and matrix theory, it gets the sufficient conditions which guarantee the system to reach a leader-follower tracking consensus. Finally, a simulation example is given to verify the effectiveness of the obtained.

Key words: multi-agent systems, consensus, distributed control, adaptive control, leader