Robust Leaderless Consensus of Uncertain Multiagent Systems with Fast Switching Topologies

Robust Leaderless Consensus of Uncertain Multiagent Systems with Fast Switching Topologies

This paper investigates the robust leaderless consensus problem of uncertain multiagent systems with directed fast switching topologies. The topologies are assumed to jointly contain a directed spanning tree. Based on a special property of the graph Laplacian matrix, the consensus problem is convert...

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Main Authors: Wei Liu, Shaolei Zhou, Shi Yan, Gaoyang Yin
Format: Article
Language:English
Published: Hindawi Limited 2015-01-01
Series:Mathematical Problems in Engineering
Online Access:http://dx.doi.org/10.1155/2015/810950
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spelling doaj-7f627cd7b946429a81eccbeff026e3982020-11-24T22:39:11ZengHindawi LimitedMathematical Problems in Engineering1024-123X1563-51472015-01-01201510.1155/2015/810950810950Robust Leaderless Consensus of Uncertain Multiagent Systems with Fast Switching TopologiesWei Liu0Shaolei Zhou1Shi Yan2Gaoyang Yin3Department of Control Engineering, Naval Aeronautical and Astronautical University, Yantai 264001, ChinaDepartment of Control Engineering, Naval Aeronautical and Astronautical University, Yantai 264001, ChinaDepartment of Control Engineering, Naval Aeronautical and Astronautical University, Yantai 264001, ChinaDepartment of Control Engineering, Naval Aeronautical and Astronautical University, Yantai 264001, ChinaThis paper investigates the robust leaderless consensus problem of uncertain multiagent systems with directed fast switching topologies. The topologies are assumed to jointly contain a directed spanning tree. Based on a special property of the graph Laplacian matrix, the consensus problem is converted into a stabilization problem by performing a proper variable transformation. Averaging method is employed for analysis. It is proved that if the topologies switch sufficiently fast and the controllers are properly designed, the robust leaderless consensus can still be achieved even when all the possible topologies are unconnected in the switching time intervals. Finally, a numerical simulation is provided to illustrate the effectiveness of the theoretical results.http://dx.doi.org/10.1155/2015/810950
collection DOAJ
language English
format Article
sources DOAJ
author Wei Liu
Shaolei Zhou
Shi Yan
Gaoyang Yin
spellingShingle Wei Liu
Shaolei Zhou
Shi Yan
Gaoyang Yin
Robust Leaderless Consensus of Uncertain Multiagent Systems with Fast Switching Topologies
Mathematical Problems in Engineering
author_facet Wei Liu
Shaolei Zhou
Shi Yan
Gaoyang Yin
author_sort Wei Liu
title Robust Leaderless Consensus of Uncertain Multiagent Systems with Fast Switching Topologies
title_short Robust Leaderless Consensus of Uncertain Multiagent Systems with Fast Switching Topologies
title_full Robust Leaderless Consensus of Uncertain Multiagent Systems with Fast Switching Topologies
title_fullStr Robust Leaderless Consensus of Uncertain Multiagent Systems with Fast Switching Topologies
title_full_unstemmed Robust Leaderless Consensus of Uncertain Multiagent Systems with Fast Switching Topologies
title_sort robust leaderless consensus of uncertain multiagent systems with fast switching topologies
publisher Hindawi Limited
series Mathematical Problems in Engineering
issn 1024-123X
1563-5147
publishDate 2015-01-01
description This paper investigates the robust leaderless consensus problem of uncertain multiagent systems with directed fast switching topologies. The topologies are assumed to jointly contain a directed spanning tree. Based on a special property of the graph Laplacian matrix, the consensus problem is converted into a stabilization problem by performing a proper variable transformation. Averaging method is employed for analysis. It is proved that if the topologies switch sufficiently fast and the controllers are properly designed, the robust leaderless consensus can still be achieved even when all the possible topologies are unconnected in the switching time intervals. Finally, a numerical simulation is provided to illustrate the effectiveness of the theoretical results.
url http://dx.doi.org/10.1155/2015/810950
work_keys_str_mv AT weiliu robustleaderlessconsensusofuncertainmultiagentsystemswithfastswitchingtopologies
AT shaoleizhou robustleaderlessconsensusofuncertainmultiagentsystemswithfastswitchingtopologies
AT shiyan robustleaderlessconsensusofuncertainmultiagentsystemswithfastswitchingtopologies
AT gaoyangyin robustleaderlessconsensusofuncertainmultiagentsystemswithfastswitchingtopologies
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