Leaderless- and Leader-Follower Matrix-Weighted Consensus with Uncertainties

Tóm tắt

This paper studies the consensus problem in which agents interact via a matrix-weighted graph. The problem is considered with different assumptions on the agent's dynamical model (single-, double integrator) with uncertainty and on the interaction such as leaderless and leader-follower topologies. Several control laws are proposed to make the multi-agent systems asymptotically reach a consensus and reject the effect of uncertainties and/or deterministic disturbances. For each proposed consensus law, mathematical analysis is given and supported by numerical simulations.