Smooth control design for adaptive leader-following consensus control of a class of high-order nonlinear systems with time-varying reference

Automatica ◽  
2017 ◽  
Vol 83 ◽  
pp. 361-367 ◽  
Author(s):  
Jiangshuai Huang ◽  
Yong-Duan Song ◽  
Wei Wang ◽  
Changyun Wen ◽  
Guoqi Li
Keyword(s):  
Nonlinear Systems ◽  
Control Design ◽  
High Order ◽  
Time Varying ◽  
Consensus Control ◽  
Smooth Control ◽  
Leader Following

Smooth control design for adaptive leader-following consensus control of a class of high-order nonlinear systems with time-varying reference and unknown control directions

2018 ◽  
Vol 41 (2) ◽  
pp. 532-539
Author(s):  
Ling Zhao ◽  
Jiangshuai Huang
Keyword(s):  
Uniform Boundedness ◽  
High Order ◽  
Reference Trajectory ◽  
Time Varying ◽  
Multi Agent Systems ◽  
Unknown Parameters ◽  
Consensus Control ◽  
Unknown Control Directions ◽  
Leader Following ◽  
Unknown Control

In this paper, we investigate the distributed adaptive leader-following consensus control for high-order nonlinear multi-agent systems with a time-varying reference trajectory under directed topology, subjected to mismatched unknown parameters and unknown control directions. By introducing local estimators for the bounds of the reference trajectory and a filter for each agent, a new backstepping-based smooth distributed adaptive control protocol is proposed. Meanwhile, a Nussbaum-type function is applied to address the consensus control with unknown control directions. It is shown that global uniform boundedness of all the closed-loop signals and asymptotic output consensus tracking can be achieved. Simulation results are provided to verify the effectiveness of our scheme.

scholarly journals Barrier Lyapunov Function-Based Fixed-Time FTC for High-Order Nonlinear Systems with Predefined Tracking Accuracy

2021 ◽  
Author(s):  
Xiaolin Wang ◽  
Jihui Xu ◽  
Maolong Lv ◽  
Lei Zhang ◽  
Zilong Zhao
Keyword(s):  
Nonlinear Systems ◽  
Lyapunov Function ◽  
Control Design ◽  
Fixed Time ◽  
High Order ◽  
Time Varying ◽  
Actuator Faults ◽  
State Variables ◽  
Tracking Errors ◽  
Barrier Lyapunov Function

Abstract This article proposes a fixed-time adaptive fault-tolerant control methodology for a larger class of high-order nonlinear systems subject to full-state constraints and actuator faults. In contrast with the stateof-the-art results, the distinguishing feature of our control design consists in proposing a novel high-order tantype barrier Lyapunov function (BLF) which ensures state variables to be some asymmetric time-varying compact sets under tan-type constraints and expands the application range of tan-type BLF (i.e., from low-order to high-order, from symmetric time-invariant to asymmetric time-varying). Apart from this, the proposed control design ensures the tracking errors converge to specified residual sets within fixed-time and makes the size of the convergence regions of tracking errors adjustable a priori by means of a new BLF-based tuning function and a projection operator. A variable-separable lemma is delicately embedded into the control design to extract the control terms in a linear-like fashion which not only overcomes the difficulty that virtual control signals appear in a non-affine manner, but also solves the problem of actuator faults. Comparative simulations results finally validate the e ectiveness of the proposed scheme.

Leader-Following Consensus Control of General Linear Multi-Agent Systems With Diverse Time-Varying Input Delays

2017 ◽  
Vol 140 (6) ◽  
Author(s):  
Chengzhi Yuan
Keyword(s):  
Single Agent ◽  
General Linear ◽  
Control Synthesis ◽  
Time Varying ◽  
Multi Agent Systems ◽  
Consensus Control ◽  
Agent Systems ◽  
Leader Following ◽  
Multi Agent ◽  
Input Delays

This paper addresses the problem of leader-following consensus control of general linear multi-agent systems (MASs) with diverse time-varying input delays under the integral quadratic constraint (IQC) framework. A novel exact-memory distributed output-feedback delay controller structure is proposed, which utilizes not only relative estimation state information from neighboring agents but also local real-time information of time delays and the associated dynamic IQC-induced states from the agent itself for feedback control. As a result, the distributed consensus problem can be decomposed into H∞ stabilization subproblems for a set of independent linear fractional transformation (LFT) systems, whose dimensions are equal to that of a single agent plant plus the associated local IQC dynamics. New delay control synthesis conditions for each subproblem are fully characterized as linear matrix inequalities (LMIs). A numerical example is used to demonstrate the proposed approach.

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