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Network-Based Practical Consensus of Heterogeneous Nonlinear Multiagent Systems.

Lei Ding, Wei Xing Zheng

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    |January 24, 2017
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    Summary
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    This study addresses leader-following consensus in heterogeneous multiagent systems with network delays. A novel protocol ensures consensus error convergence for both fixed and switching network topologies.

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    Area of Science:

    • Control Theory
    • Networked Systems
    • Nonlinear Dynamics

    Background:

    • Investigates the practical leader-following consensus problem in heterogeneous multiagent systems.
    • Addresses challenges posed by Lipschitz nonlinear dynamics and network-induced delays.
    • Considers both fixed and switching network topologies.

    Purpose of the Study:

    • To propose a network-based leader-following consensus protocol for heterogeneous multiagent systems.
    • To ensure practical consensus error convergence despite network-induced delays.
    • To extend the consensus protocol design to switching network topologies.

    Main Methods:

    • Development of a network-based consensus protocol with a heterogeneous gain matrix for follower agents.
    • Application of the Lyapunov-Krasovskii method to derive sufficient conditions for controller gain design.
    • Extension of the fixed topology approach to handle switching topologies.

    Main Results:

    • A sufficient condition for designing the network-based consensus controller gain is derived.
    • The leader-following consensus error is shown to exponentially converge to a bounded region under fixed topology.
    • The design approach is successfully extended to the case of switching topologies.

    Conclusions:

    • The proposed network-based consensus protocol effectively achieves leader-following consensus in heterogeneous multiagent systems.
    • The Lyapunov-Krasovskii method provides a robust framework for designing consensus controllers under network delays.
    • The study demonstrates the efficiency of the design method through numerical examples using networked Chua's circuits.