Data-Driven Leader-Follower Output Synchronization for Networked Non-Linear Multi-Agent Systems with Switching Topology and Time-Varying Delays  

作　　者：LI Chang-Jiang LIU Guo-Ping 

机构地区：[1]Center for Control Theory and Guidance Technology, Harbin Institute of Technology, Harbin 150001, China [2]School of Engineering, University of South Wales, Pontypridd CF37 1DL, UK Center for Control Theory and Guidance Technology, Harbin Institute of Technology, Harbin 150001, China

出　　处：《Journal of Systems Science & Complexity》2018年第1期87-102,共16页系统科学与复杂性学报（英文版）

基　　金：supported in part by the National Natural Science Foundation of China under Grant Nos.61333003 and 61773144

摘　　要：This paper studies the output synchronization problem for a class of networked non-linear multi-agent systems with switching topology and time-varying delays. To synchronize the outputs,a leader is introduced whose connectivity to the followers varies with time, and a novel data-driven consensus protocol based on model free adaptive control is proposed, where the reference input of each follower is designed to be the time-varying average of the neighboring agents＇ outputs. Both the case when the leader is with a prescribed reference input and the case otherwise are considered.The proposed protocol allows for time-varying delays, switching topology, and does not use the agent structure or the dynamics information implicitly or explicitly. Sufficient conditions are derived to guarantee the closed-loop stability, and conditions for consensus convergence are obtained, where only a joint spanning tree is required. Numerical simulations and practical experiments are conducted to demonstrate the effectiveness of the proposed protocol.

关 键 词：Data-driven networked nonlinear multi-agent system output synchronization switching topology time-varying delay 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程]