Mondal, SabyasachiTsourdos, Antonios2021-05-072021-05-072021-05-03Mondal S, Tsourdos A. (2022) The consensus of non-linear agents under switching topology using dynamic inversion in the presence of communication noise and delay, Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering, Volume 236, Issue 2, February 2022, pp. 352-3670954-4100https://doi.org/10.1177/09544100211012795https://dspace.lib.cranfield.ac.uk/handle/1826/16658In this study, a consensus protocol for non-linear multi-agent systems using the non-linear dynamic inversion (NDI) technique is presented. It is named as distributed NDI or DNDI. The agents are considered to be working in a randomly changing environment which is realistic. The randomness in the operating environment is introduced by random switching communication topology, delays, and noise. The consensus protocol is obtained as a closed-form expression, which is a critical requirement for real-time implementation. Also, various cases regarding the communication issues have been considered to study the performance of the DNDI controller. The simulation results are found to be satisfactory.enAttribution 4.0 Internationalhttp://creativecommons.org/licenses/by/4.0/communication noisecommunication delayswitching topologynon-linear dynamic inversionmulti-agent systemsConsensusArticle