TY - JOUR
T1 - Data-Driven Leader-Follower Output Synchronization for Networked Non-Linear Multi-Agent Systems with Switching Topology and Time-Varying Delays
AU - Li, Chang Jiang
AU - Liu, G-P
PY - 2018/2/1
Y1 - 2018/2/1
N2 - This paper studies the output synchronization problem for a class of networked non-linear multi-agent systems with switching topology and time-varying delays. To synchronize the outputs, a leader is introduced whose connectivity to the followers varies with time, and a novel data-driven consensus protocol based on model free adaptive control is proposed, where the reference input of each follower is designed to be the time-varying average of the neighboring agents’ outputs. Both the case when the leader is with a prescribed reference input and the case otherwise are considered. The proposed protocol allows for time-varying delays, switching topology, and does not use the agent structure or the dynamics information implicitly or explicitly. Sufficient conditions are derived to guarantee the closed-loop stability, and conditions for consensus convergence are obtained, where only a joint spanning tree is required. Numerical simulations and practical experiments are conducted to demonstrate the effectiveness of the proposed protocol.
AB - This paper studies the output synchronization problem for a class of networked non-linear multi-agent systems with switching topology and time-varying delays. To synchronize the outputs, a leader is introduced whose connectivity to the followers varies with time, and a novel data-driven consensus protocol based on model free adaptive control is proposed, where the reference input of each follower is designed to be the time-varying average of the neighboring agents’ outputs. Both the case when the leader is with a prescribed reference input and the case otherwise are considered. The proposed protocol allows for time-varying delays, switching topology, and does not use the agent structure or the dynamics information implicitly or explicitly. Sufficient conditions are derived to guarantee the closed-loop stability, and conditions for consensus convergence are obtained, where only a joint spanning tree is required. Numerical simulations and practical experiments are conducted to demonstrate the effectiveness of the proposed protocol.
KW - Data-driven
KW - networked nonlinear multi-agent system
KW - output synchronization
KW - switching topology
KW - time-varying delay
U2 - 10.1007/s11424-018-7269-7
DO - 10.1007/s11424-018-7269-7
M3 - Article
AN - SCOPUS:85042693531
VL - 31
SP - 87
EP - 102
JO - Journal of Systems Science and Complexity
JF - Journal of Systems Science and Complexity
SN - 1009-6124
IS - 1
ER -