Cooperative Control of Multiple High-Order Agents With Nonidentical Unknown Control Directions Under Fixed and Time-Varying Topologies

2019 ◽  
pp. 1-10
Author(s):  
Qingling Wang ◽  
Haris E. Psillakis ◽  
Changyin Sun
Keyword(s):  
Cooperative Control ◽  
High Order ◽  
Time Varying ◽  
Unknown Control Directions ◽  
Unknown Control

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.

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