Compensator-based periodically intermittent control for nonlinear second-order multi-agent systems

• Published in: Proceedings of the Institution of Mechanical Engineers. Part I, Journal of systems and control engineering Journal of systems and control engineering, 2022-03, Vol.236 (3), p.491-504
• Main Authors: Yang, Ruitian, Peng, Li, Yang, Yongqing
• Format: Article
• Language: English
• Subjects: Algorithms; Communication networks; Compensators; Control algorithms; Control stability; Control systems; Control theory; Graph theory; Mechanical engineering; Multiagent systems; Nonlinear control; Topology
• ISSN: 0959-6518; 2041-3041
• DOI: 10.1177/09596518211048995

This article studies leader-following bipartite consensus control of a class of nonlinear second-order multi-agent systems. A new compensator-based periodically intermittent control algorithm is proposed for the second-order multi-agent systems. The compensator can be implemented in a fully distributed way. In other words, in order to construct the compensator for a certain agents, the values of measurement output of each agent and its neighbor agents are monitored for the construction of compensator. Considering the limited bandwidth of communication networks, the state variable of compensator is used by the controller for each follower to construct a novel periodically intermittent control algorithm, which can effectively reduce the communication frequency among agents in the control process. By combing stability theory and algebra graph theory, the criteria are obtained for the achievement of global exponential bipartite consensus under a fixed directed topology. Finally, some numerical examples are provided to illustrate the performance of the proposed control algorithm.