Consensus tracking of nonlinear agents using distributed nonlinear dynamic inversion with switching leader-follower connection
| dc.contributor.author | Mondal, Sabyasachi | |
| dc.contributor.author | Tsourdos, Antonios | |
| dc.date.accessioned | 2023-01-05T12:12:20Z | |
| dc.date.available | 2023-01-05T12:12:20Z | |
| dc.date.issued | 2022-12-06 | |
| dc.description.abstract | 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. | en_UK |
| dc.description.sponsorship | Engineering and Physical Sciences Research Council (EPSRC): EP/R009953/1 | en_UK |
| dc.identifier.citation | Mondal S, Tsourdos A. (2022) Consensus tracking of nonlinear agents using distributed nonlinear dynamic inversion with switching leader-follower connection, Sensors, Volume 22, Issue 23, December 2022, Article number 9537 | en_UK |
| dc.identifier.issn | 1424-8220 | |
| dc.identifier.uri | https://doi.org/10.3390/s22239537 | |
| dc.identifier.uri | https://dspace.lib.cranfield.ac.uk/handle/1826/18854 | |
| dc.language.iso | en | en_UK |
| dc.publisher | MDPI | en_UK |
| dc.rights | Attribution 4.0 International | * |
| dc.rights.uri | http://creativecommons.org/licenses/by/4.0/ | * |
| dc.subject | consensus tracking | en_UK |
| dc.subject | distributed nonlinear dynamic inversion | en_UK |
| dc.subject | leader–follower consensus | en_UK |
| dc.title | Consensus tracking of nonlinear agents using distributed nonlinear dynamic inversion with switching leader-follower connection | en_UK |
| dc.type | Article | en_UK |