|Consensus of Multi-agent Systems with Dead-zone Nonlinearity
Haibo Jiang, Liping Zhang, Jianjiang Yu, and Caigen Zhou
International Journal of Control, Automation, and Systems, vol. 10, no. 4, pp.824-829, 2012
Abstract : In this paper, we investigate the consensus problem of multi-agent systems with dead-zone nonlinearity over undirected networks. Firstly, a control protocol is designed based on the local infor-mation of agents. Then by LaSalle’s invariance principle for non-smooth systems, we prove that if the undirected graph is connected then the consensus is achieved by the proposed control protocol. Sec-ondly, sufficient conditions are given to guarantee the consensus of multi-agent systems with dead-zone nonlinearity and switching topologies by Lyapunov method. Finally, numerical simulations show the effectiveness of our theoretical results.
Keyword : Consensus, dead-zone nonlinearity, LaSalle’s invariance principle, multi-agent systems, switching topologies.