Distributed robust adaptive flocking for uncertain nonlinear multi-agent systems with time-varying communication delay
Ali Izadipour, Jafar Ghaisari, Javad Askari · International Journal of Systems Science · 2019
This paper is concerned with the flocking problem of networked multi-agent systems while considering the perturbed communication link, time-varying communication delay and perturbed nonlinear dynamics. The state information of agents is exchanged among agents through a delayed communication network with an unknown upper bound. The proposed algorithm doesn't require the precise value of the communication delay upper bound. In addition, it can be applied to the networks with different time delays in different links. In order to deal with the perturbation of communication links, a distributed adaptive controller is proposed. The controllers are designed using only the delayed velocity information of one-hop neighbour. By means of the Lyapunov–Krasovskii analysis, sufficient conditions on the upper bound of communication delay derivative are computed under which flocking will be achieved and all states are globally uniformly bounded. Simulation results illustrate the effectiveness of the proposed algorithm.