摘要
In this paper,a group consensus problem is investigated for multiple networked agents with parametric uncertainties where all the agents are governed by the Euler-Lagrange system with uncertain parameters.In the group consensus problem,the agents asymptotically reach several different states rather than one consistent state.A novel group consensus protocol and a time-varying estimator of the uncertain parameters are proposed for each agent in order to solve the couple-group consensus problem.It is shown that the group consensus is reachable even when the system contains the uncertain parameters.Furthermore,the multi-group consensus is discussed as an extension of the couple-group consensus,and then the group consensus with switching topology is considered.Simulation results are finally provided to validate the effectiveness of the theoretical analysis.
基金
supported by the National Natural Science Foundation of China under Grant Nos.60974017.61273212,61322302,61104145,and 61004097
Zhejiang Provincial Natural Science Foundation of China under Grant No.LQ14F030011
the Natural Science Foundation of Jiangsu Province of China under Grant No.BK2011581
the Research Fund for the Doctoral Program of Higher Education of China under Grant No.20110092120024
the Fundamental Research Funds for the Central Universities of China
