Distributed Adaptive Consensus Disturbance Rejection

a Directed-spanning-tree Perspective

Conference Paper (2022)
Author(s)

Dongdong Yue (Southeast University)

S Baldi (TU Delft - Team Bart De Schutter, Southeast University)

Jinde Cao (Southeast University)

Research Group
Team Bart De Schutter
Copyright
© 2022 Dongdong Yue, S. Baldi, Jinde Cao
DOI related publication
https://doi.org/10.23919/CCC55666.2022.9902382
More Info
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Publication Year
2022
Language
English
Copyright
© 2022 Dongdong Yue, S. Baldi, Jinde Cao
Research Group
Team Bart De Schutter
Pages (from-to)
4694-4699
ISBN (electronic)
978-98-8758-153-6
Reuse Rights

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Abstract

In this paper, we revisit the problem of consensus disturbance rejection for multiagent systems over a digraph, but from a different perspective, i.e., the perspective of a directed spanning tree (DST). When the minimum nonzero real part of the Laplacian eigenvalues is available, we reproduce the sufficient lower bound for a static homogeneous coupling gain in the literature, by exploring a DST structure of the digraph. The major novelty arises when it is shown that by adaptively tuning the coupling gains along a DST, consensus disturbance rejection can be achieved when the above eigenvalue information is not available. Numerical examples on networks of second-order oscillators and UAVs are included to validate the theoretical results.

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