Academic Journal
Consensus Tracking of Nonlinear Agents Using Distributed Nonlinear Dynamic Inversion with Switching Leader-Follower Connection
| العنوان: | Consensus Tracking of Nonlinear Agents Using Distributed Nonlinear Dynamic Inversion with Switching Leader-Follower Connection |
|---|---|
| المؤلفون: | Sabyasachi Mondal, Antonios Tsourdos |
| المصدر: | Sensors, Vol 22, Iss 23, p 9537 (2022) |
| بيانات النشر: | MDPI AG, 2022. |
| سنة النشر: | 2022 |
| المجموعة: | LCC:Chemical technology |
| مصطلحات موضوعية: | consensus tracking, distributed nonlinear dynamic inversion, leader–follower consensus, Chemical technology, TP1-1185 |
| الوصف: | In this paper, a consensus tracking protocol for nonlinear agents is presented, which is based on the Nonlinear Dynamic Inversion (NDI) technique. Implementation of such a technique is new in the context of the consensus tracking problem. The tracking capability of nonlinear dynamic inversion (NDI) is exploited for a leader-follower multi-agent scenario. We have provided all the mathematical details to establish its theoretical foundation. Additionally, a convergence study is provided to show the efficiency of the proposed controller. The performance of the proposed controller is evaluated in the presence of both (a) random switching topology among the agents and (b) random switching of leader–follower connections, which is realistic and not reported in the literature. The follower agents track various trajectories generated by a dynamic leader, which describes the tracking capability of the proposed controller. The results obtained from the simulation study show how efficiently this controller can handle the switching topology and switching leader-follower connections. |
| نوع الوثيقة: | article |
| وصف الملف: | electronic resource |
| اللغة: | English |
| تدمد: | 22239537 1424-8220 |
| Relation: | https://www.mdpi.com/1424-8220/22/23/9537; https://doaj.org/toc/1424-8220 |
| DOI: | 10.3390/s22239537 |
| URL الوصول: | https://doaj.org/article/9c2e117c6b4242a9a76ec2fc039854d5 |
| رقم الانضمام: | edsdoj.9c2e117c6b4242a9a76ec2fc039854d5 |
| قاعدة البيانات: | Directory of Open Access Journals |
Full Text Finder | تدمد: | 22239537 14248220 |
|---|---|
| DOI: | 10.3390/s22239537 |