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Consensus Problem Over High-Order Multiagent Systems With Uncertain Nonlinearities Under Deterministic and Stochastic

Hamed Rezaee, Farzaneh Abdollahi

IEEE Transactions on Cybernetics

|January 17, 2017

Summary

This summary is machine-generated.

This study introduces a robust consensus protocol for high-order nonlinear multiagent systems (MASs). The protocol ensures reliable consensus despite model uncertainties and stochastic link failures in the network.

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Area of Science:

Control Systems Engineering
Robotics
Networked Systems

Background:

Leaderless consensus is a fundamental problem in multiagent systems (MASs).
High-order nonlinear systems present significant challenges for achieving consensus.
Existing protocols often struggle with model uncertainties and network stochasticity.

Purpose of the Study:

To develop a robust consensus protocol for high-order nonlinear MASs.
To address uncertainties in agent models and stochastic link failures.
To ensure reliable consensus achievement under challenging network conditions.

Main Methods:

Utilizing super-martingale concepts to analyze system stability.
Designing a protocol robust to uncertain nonlinearities.
Investigating consensus under stochastic link failures.

Main Results:

The proposed protocol guarantees almost sure consensus under specified conditions.
The protocol is robust to uncertain nonlinearities in agent models.
Consensus can be achieved independently of prior knowledge of network topologies.

Conclusions:

The developed protocol effectively achieves leaderless consensus in high-order nonlinear MASs.
The strategy is verified through numerical examples with flexible joint manipulators.
This work advances robust control strategies for complex networked systems.