Directed spanning tree–based adaptive protocols for second‐order consensus of multiagent systems |
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| Authors: | Zhiyong Yu Haijun Jiang Da Huang Cheng Hu |
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| Affiliation: | College of Mathematics and System Sciences, Xinjiang University, Urumqi, China |
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| Abstract: | This paper discusses the consensus problem of second‐order multiagent systems with nonlinear dynamics. A directed spanning tree–based adaptive control protocol is developed, which overcomes the drawback that the spectrum of the Laplacian matrix must be known a priori. A scheme for reordering the nodes is proposed. Applying the developed method and the Lyapunov stability theory, some distributed adaptive laws are designed in the directed network. It is found that the consensus can be achieved by randomly choosing a directed spanning tree and using the developed distributed adaptive law. Finally, an example is presented to illustrate the theoretical analysis. |
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| Keywords: | adaptive control consensus directed spanning tree multiagent systems |
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