distributed consensus of high-order multi-agents with nonlinear dynamics非线性动力学的高阶多智能分布式共识.pdfVIP

Intelligent Control and Automation, 2011, 2, 1-7 doi:10.4236/ica.2011.21001 Published Online February 2011 (http://www.SciRP.org/journal/ica) Distributed H  Consensus of High-Order Multi-Agents * with Nonlinear Dynamics Jianzhen Li School of Automation, Nanjing University of Science and Technology, Nanjing, China E-mail : jianzhenli 1983@ Received January 20, 2011; revised February 12, 2011; accepted February 13, 2011 Abstract This paper deals with the distributed consensus problem of high-order multi-agent systems with nonlinear dynamics subject to external disturbances. The network topology is assumed to be a fixed undirected graph. Some sufficient conditions are derived, under which the consensus can be achieved with a prescribed H  norm bound. It is shown that the parameter matrix in the consensus algorithm can be designed by solving two linear matrix inequalities (LMIs). In particular, if the nonzero eigenvalues of the laplacian matrix ac- cording to the network topology are identical, the parameter matrix in the consensus algorithm can be de- signed by solving one LMI. A numerical example is given to illustrate the proposed results. Keywords: Consensus, Multi-Agent Systems, Nonlinear Dynamics, External Disturbances 1. Introduction tigated in [15]. The nonlinear dynamics can be taken as the potential functions or the desired final dynamics of The consensus problem of multi-agent systems has been the agents. There is also some