自动化学报2018，Vol.44Issue(1)：44-51,8.DOI:10.16383/j.aas.2018.c160637
有向图中网络Euler-Lagrange系统无需相对速度信息的群一致性
Group Consensus for Networked Euler-Lagrangian Systems Under a Directed Graph Without Relative Velocity Information
摘要
Abstract
In this paper, we study group consensus for networked Euler-Lagrangian systems under a general nonsym-metric directed graph. The relationships between interactive agents in same group are cooperative while the relationships between interactive agents among different groups can be either cooperative or competitive. To achieve group consensus, we assume that the interaction topology among groups is acyclic and the associated directed graph satisfies the in-degree balance condition. Considering the fact that the relative velocity information among neighboring agents is difficult to obtain,we propose a distributed adaptive control algorithm for each agent without relative velocity information to achieve group consensus for networked Euler-Lagrangian systems. Finally, simulation results are presented to demonstrate the effectiveness of the proposed control algorithm.关键词
多智能体系统/Euler-Lagrange系统/群一致性/自适应控制Key words
Multi-agent systems/Euler-Lagrangian systems/group consensus/adaptive control引用本文复制引用
曹然,梅杰..有向图中网络Euler-Lagrange系统无需相对速度信息的群一致性[J].自动化学报,2018,44(1):44-51,8.基金项目
国家自然科学基金(61403094),深圳市基础研究计划(JCYJ20160505175231531)资助Supported by National Natural Science Foundation of China(61403094)and the Foundation Research Project of Shenzhen(JCYJ20160505175231531) （61403094）
