Mahsa Mohammadi and Mahdi Baradarannia and Ali Farzamnia (2021) Leader-following consensus of nonlinear multi agent systems based on position and velocity estimations.
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Abstract
In this paper, leader-following consensus problem of nonlinear multi-agent systems is studied. In order to obtain control law in multi-agent systems, usually agents’ information should be exactly known, which may not be available in real applications. In this work, a method is proposed to estimate the position and velocity of agents with arbitrary initial conditions of followers and leaders. Then, the estimations are used to obtain a consensus control law. At first, a single integrator nonlinear multi-agent system with a leader is considered, and a consensus law is proposed using followers’ position estimations. Then, for a double integrator nonlinear system, a controller is obtained based on position and velocity estimations. Several simulations are performed to validate the proposed method.
| Item Type: | Proceedings |
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| Keyword: | Multi-agent systems , Leader-follower consensus , Velocity and position estimations |
| Subjects: | Q Science > QA Mathematics > QA1-939 Mathematics |
| Department: | FACULTY > Faculty of Engineering |
| Depositing User: | DG MASNIAH AHMAD - |
| Date Deposited: | 24 Nov 2021 17:16 |
| Last Modified: | 24 Nov 2021 17:16 |
| URI: | https://eprints.ums.edu.my/id/eprint/31224 |
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