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.

Adaptive preview consensus control for discrete-time nonlinear multi-agent systems with unknown control directions

2020 ◽  
Vol 42 (15) ◽  
pp. 2941-2950
Author(s):  
Chang-E Ren ◽  
CL Philip Chen
Keyword(s):  
Discrete Time ◽  
Multi Agent Systems ◽  
Consensus Control ◽  
Agent Systems ◽  
Unknown Control Directions ◽  
Leader Following ◽  
Multi Agent ◽  
Distributed Controllers ◽  
Unknown Control ◽  
Logic System

In this paper, the leader-following consensus control problem of discrete-time nonlinear multi-agent systems with unknown control directions is discussed. The preview future information of the leader is utilized when the distributed controllers are designed. Fuzzy logic system is directly introduced to approximate the uncertainty and unknown control directions and the adaptive distributed controller with preview information is put forward. The designed controller can drive all the states of followers to converge to a small neighbourhood of the leader’s state. In addition, all the states of followers remain bounded. Finally, the results of simulations can display the effectiveness of the presented algorithms.

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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