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Leader-following consensus of nonlinear multi-agent systems with switching topologies and unreliable communications

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Abstract

In this paper, distributed leader-following consensus for a class of nonlinear multi-agent systems with switching topologies and unreliable communications is studied. Each possible topology contains a directed spanning tree rooted at the leader. Agents share the information only with their neighbors on some disconnected time intervals due to the unreliable communications. By designing suitable distributed controllers, all follower nodes asymptotically synchronize to the leader node if the communication rate is larger than a threshold value for each time interval. By using multiple Lyapunov functions theory and linear matrix inequalities technique, some sufficient conditions are given to guarantee the consensus. Moreover, based on the theoretical results, the admissible communication rate and convergence rate of the whole systems are adjusted by the feedback gain matrix, which provides helpful design guidelines in practical applications. Finally, a simulation example is given to verify the effectiveness of the proposed method.

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Acknowledgments

This work was supported by the Major State Basic Research Development Program 973 (Grant No. 2012CB215202), the National Natural Science Foundation of China (Grant Nos. 61104080 and 61134001), and the Fundamental Research Funds for the Central Universities (Grant No. CDJZR13 17 55 01).

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Authors and Affiliations

  1. College of Communication and Information Engineering, Harbin Engineering University, Harbin, 150001, China

    Bing Cui, Chunhui Zhao & Chi Feng

  2. Key Laboratory of Dependable Service Computing in Cyber Physical Society (Chongqing University), Ministry of Education, Chongqing, 400044, China

    Tiedong Ma

  3. College of Automation, Chongqing University, Chongqing, 400044, China

    Tiedong Ma

Authors
  1. Bing Cui
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  2. Chunhui Zhao
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  3. Tiedong Ma
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  4. Chi Feng
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Correspondence to Tiedong Ma.

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Cui, B., Zhao, C., Ma, T. et al. Leader-following consensus of nonlinear multi-agent systems with switching topologies and unreliable communications. Neural Comput & Applic 27, 909–915 (2016). https://doi.org/10.1007/s00521-015-1905-0

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  • DOI: https://doi.org/10.1007/s00521-015-1905-0

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