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Cooperative Control of Nonlinear Networked Systems pp 49–71Cite as

Cooperative Adaptive Consensus Control for Uncertain Multi-agent Systems with nth-Order Dynamics Under Undirected Graph

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Abstract

In Chap. 3, we showed how to construct the Lyapunov function that is related to the graph topology and parameter estimation error and also introduced some key concepts needed for the distributed adaptive controller design and stability analysis on graph such as the virtual parameter estimation error technique, the core function concept, and the distributed Lyapunov function design dependent of the graph topology. In this chapter, we address the controller design and stability analysis for the distributed leaderless consensus control of networked multi-agent systems, including first-order systems, second-order systems, and high-order systems, all with unknown time-varying gain and non-parametric/non-vanishing uncertainties under the undirected communication topology condition.

Part of Sects. 4.2 and 4.4 have been reproduced from Wang, Y. J., Song, Y. D., Lewis, F. L.: Robust adaptive fault-tolerant control of multi-agent systems with uncertain non-identical dynamics and undetectable actuation failures. IEEE Transactions on Industrial Electronics, vol. 62, no. 6, pp. 3978–3988, 2015 2015, IEEE, reprinted with permission.

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References

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Authors and Affiliations

  1. School of Automation, Chongqing University, Chongqing, China

    Yongduan Song & Yujuan Wang

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  1. Yongduan Song
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  2. Yujuan Wang
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Correspondence to Yongduan Song .

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Song, Y., Wang, Y. (2019). Cooperative Adaptive Consensus Control for Uncertain Multi-agent Systems with nth-Order Dynamics Under Undirected Graph. In: Cooperative Control of Nonlinear Networked Systems. Communications and Control Engineering. Springer, Cham. https://doi.org/10.1007/978-3-030-04972-0_4

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