TY - JOUR
T1 - Mean Square Leader-Following Consensus of Second-Order Nonlinear Multiagent Systems with Noises and Unmodeled Dynamics
AU - Zou, Wencheng
AU - Xiang, Zhengrong
AU - Ahn, Choon Ki
N1 - Funding Information:
Manuscript received November 29, 2017; revised May 12, 2018; accepted July 29, 2018. Date of publication August 17, 2018; date of current version November 19, 2019. This work was supported in part by the National Natural Science Foundation of China under Grant 61773211 and Grant 61673219, in part by the Jiangsu Six Talents Peaks Project of Province under Grant XNYQC-CXTD-001, and in part by the Tianjin Major Projects of Science and Technology under Grant 15ZXZNGX00250. This paper was recommended by Associate Editor Y.-J. Liu. (Corresponding author: Zhengrong Xiang.) W. Zou and Z. Xiang are with the School of Automation, Nanjing University of Science and Technology, Nanjing 210094, China (e-mail: xiangzr@njust.edu.cn).
Publisher Copyright:
© 2013 IEEE.
PY - 2019/12
Y1 - 2019/12
N2 - This paper focuses on the mean square practical leader-following consensus of second-order nonlinear multiagent systems with noises and unmodeled dynamics, where all agents are influenced by noises emerging from the input channels. We present a new distributed protocol, which contains a designed signal to dominate the effects of unmodeled dynamics, to solve the mean square leader-following consensus problem for the nonlinear multiagent systems. The protocol is designed without using any global information, even the eigenvalues of the Laplacian matrix. The Lipschitz constant of the nonlinear function is also unknown to all followers. Using the Lyapunov functional approach and the stochastic theory, it is proven that the mean square practical leader-following consensus is achieved by the designed protocol. Finally, two examples are provided to illustrate the effectiveness of the designed algorithm.
AB - This paper focuses on the mean square practical leader-following consensus of second-order nonlinear multiagent systems with noises and unmodeled dynamics, where all agents are influenced by noises emerging from the input channels. We present a new distributed protocol, which contains a designed signal to dominate the effects of unmodeled dynamics, to solve the mean square leader-following consensus problem for the nonlinear multiagent systems. The protocol is designed without using any global information, even the eigenvalues of the Laplacian matrix. The Lipschitz constant of the nonlinear function is also unknown to all followers. Using the Lyapunov functional approach and the stochastic theory, it is proven that the mean square practical leader-following consensus is achieved by the designed protocol. Finally, two examples are provided to illustrate the effectiveness of the designed algorithm.
KW - Mean square consensus
KW - nonlinear multiagent systems
KW - stochastic systems
KW - unmodeled dynamics
KW - white noises
UR - http://www.scopus.com/inward/record.url?scp=85051822089&partnerID=8YFLogxK
U2 - 10.1109/TSMC.2018.2862140
DO - 10.1109/TSMC.2018.2862140
M3 - Article
AN - SCOPUS:85051822089
SN - 2168-2216
VL - 49
SP - 2478
EP - 2486
JO - IEEE Transactions on Systems, Man, and Cybernetics: Systems
JF - IEEE Transactions on Systems, Man, and Cybernetics: Systems
IS - 12
M1 - 8438887
ER -