IEEE Trans Cybern. 2017 Aug;47(8):1841-1851. doi: 10.1109/TCYB.2016.2601488. Epub 2016 Sep 7.
This paper studies network-based practical leader-following consensus problem of heterogeneous multiagent systems with Lipschitz nonlinear dynamics under both fixed and switching topologies. Considering the effect of network-induced delay, a network-based leader-following consensus protocol with heterogeneous gain matrix is proposed for each follower agent. By employing Lyapunov-Krasovskii method, a sufficient condition for designing the network-based consensus controller gain is derived such that the leader-following consensus error exponentially converges to a bounded region under a fixed topology. Correspondingly, the proposed design approach is then extended to the case of switching topology. Two numerical examples with networked Chua's circuits are given to show the efficiency of the design method proposed in this paper.
本文研究了具有李普希茨非线性动态的异构多智能体系统在固定和切换拓扑下基于网络的实用领导者-跟随者共识问题。考虑到网络诱导延迟的影响，为每个跟随者智能体提出了一个具有异构增益矩阵的基于网络的领导者-跟随者共识协议。通过使用 Lyapunov-Krasovskii 方法，推导出了设计基于网络的共识控制器增益的充分条件，使得在固定拓扑下，领导者-跟随者共识误差指数收敛到有界区域。相应地，将所提出的设计方法扩展到切换拓扑的情况。通过两个基于网络的蔡氏电路的数值示例，验证了本文所提出设计方法的有效性。
