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Article Abstract
This paper studies the consensus problem for a class of unknown heterogeneous nonlinear multi-agent systems via a network with random packet dropouts. Based on the dynamic linearization technique, novel model-free adaptive consensus protocols with the data compensation mechanism are designed for both leaderless and leader-following cases. The advantage of this approach is that only neighborhood input and output data of the agents are required in the protocol design. For the stability analysis, a new Squeeze Theorem based method is developed to derive the theoretic results instead of the traditional contraction mapping principle used in model-free adaptive control. It is shown that the consensus can be achieved for both leaderless and leader-following cases if the communication topology is strongly connected. Finally, numerical simulations verifying the correctness of the theoretical results are given.
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| http://www.ncbi.nlm.nih.gov/pmc/articles/PMC11452640 | PMC |
| http://dx.doi.org/10.1038/s41598-024-73959-8 | DOI Listing |
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