Robust consensus control of nonlinear odd power integrator systems

In this paper, we study the consensus output tracking control for multi-agent systems with high-order dynamics under directed communication topology. Time-varying reference is assumed to be available to a subgroup of a team. A leader-follower scheme is applied and robust consensus control is developed so that the reference is treated as disturbances to those agents with no access to the reference. The control scheme avoids estimation of the derivatives of neighbor’s states through measurement as done in previous work and guarantees a finite L2-gain from the reference to an transformed output. Simulation results show satisfactory performances.

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Distributed robust consensus control for multi-agent linear parameter-varying uncertain systems

2020 Chinese Automation Congress (CAC) ◽

10.1109/cac51589.2020.9327857 ◽

2020 ◽

Author(s):

CHEN Yangzhou ◽

HUANG Xiaolong ◽

ZHAN Jingyuan

Keyword(s):

Uncertain Systems ◽

Linear Parameter ◽

Consensus Control ◽

Linear Parameter Varying ◽

Multi Agent ◽

Parameter Varying ◽

Robust Consensus

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Distributed robust consensus control for nonlinear leader–follower multi-agent systems based on adaptive observer-based sliding mode

Journal of Vibration and Control ◽

10.1177/1077546318772239 ◽

2018 ◽

Vol 25 (1) ◽

pp. 109-121 ◽

Cited By ~ 7

Author(s):

N Rahimi ◽

T Binazadeh

Keyword(s):

Sliding Mode ◽

Adaptive Observer ◽

Multi Agent Systems ◽

Parameter Uncertainties ◽

Dynamical Equations ◽

Consensus Control ◽

Agent Systems ◽

Sliding Mode Controllers ◽

Multi Agent ◽

Robust Consensus

This paper investigates an adaptive observer-based consensus control strategy for general nonlinear multi-agent systems (MASs). The distributed control of leader–follower MASs is studied in the presence of unknown parts in the dynamical equations of the followers which may be due to model simplification, parameter uncertainties and/or external disturbances. In order to decrease the conservatism of robust analysis, the upper bound of unknown terms are considered as unknown positive constants and are obtained through the adaptation laws. Additionally, it is assumed that all the agents’ states are not directly measurable and nonlinear distributed observers are designed. Furthermore, the robust consensus is achieved via distributed adaptive observer-based sliding mode controllers. In this regard, a theorem is given and it is proved that the consensus error converges to zero. Finally, computer simulations are performed and the theoretical results are verified.

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