Consensus for heterogeneous uncertain multi-agent systems with jointly connected topology

Jae Man Kim, Yoon Ho Choi, Jin Bae Park

Research output: Contribution to journalArticlepeer-review


This paper investigates the consensus problem of heterogeneous uncertain multi-agent systems with jointly connected topology, where the considered systems are composed of linear first-order, secondorder dynamics and nonlinear Euler-Lagrange (EL) dynamics. The consensus protocol is designed to converge the position and velocity states of the linear and nonlinear heterogeneous multi-agent systems under joint connected topology, and then the adaptive consensus protocol is also proposed for heterogeneous multi-agent systems with unknown parameters in the EL dynamics under jointly connected topology. Stability analysis for piecewise continuous functions induced by the jointly connection is presented based on Lyapunov function and Cauchy's convergence criteria. Finally, some simulation results are provided to verify the effectiveness of the proposed methods.

Original languageEnglish
Pages (from-to)346-354
Number of pages9
JournalIEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences
Issue number1
Publication statusPublished - 2016 Jan

Bibliographical note

Funding Information:
This work was supported by the Human Resources Development program (No. 20124030200040/2) of the Korea Institute of Energy Technology Evaluation and Planning (KETEP) grant funded by the Korea government Ministry of Trade, Industry and Energy.

Publisher Copyright:
Copyright © 2016 The Institute of Electronics, Information and Communication Engineers.

All Science Journal Classification (ASJC) codes

  • Signal Processing
  • Computer Graphics and Computer-Aided Design
  • Electrical and Electronic Engineering
  • Applied Mathematics


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