Adaptive Consensus of Nonlinear Multi-Agent Systems With Non-Identical Partially Unknown Control Directions and Bounded Modelling Errors

Chen, Ci; Chen, Wen; Li, Zhi; Xie, Kan; Zhang, Yun; Chen, C. L. Philip

doi:10.1109/tac.2016.2628204

Cited by 184 publications

(102 citation statements)

References 40 publications

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“…Hence, the lumped state‐dependent uncertainties are permitted to grow arbitrarily large owing to the variation of

{\overset{x}{true}}_{i, n}

. Apparently, when

d_{i} false({\overset{x}{true}}_{i, n}, t false) = d_{i} false(t false)

, the multiagent system becomes uncertain system considered in many existing works; when

d_{i} false({\overset{x}{true}}_{i, n}, t false) = 0

, it reduces to the multiagent system studied in previous works . Moreover, similar assumptions can also be observed in many previous results such as the works of Jin and Ouyang and Lin .…”

Section: Problem Statement and Preliminariessupporting

confidence: 58%

“…Such a condition is less stringent than the restrictions appeared in our previous work and the recent related work that the control directions of the agents should be unknown identical or nonidentical partially unknown. Furthermore, by choosing the Nussbaum function as

N false(ξ false) = \sin false(ξ false) e^{ξ^{2}}

and replacing Lemma by lemma 4.3 in the work of Chen, this assumption can also be relaxed to the cases of time‐varying control coefficients b i ( t ) as in the existing works …”

Section: Problem Statement and Preliminariesmentioning

confidence: 99%

“…In previous works, the adaptive consensus problems of nonlinear multiagent systems with unknown identical control directions are solved via introducing novel Nussbaum‐type functions. Later, by requiring unknown control directions of all the agents to be the same, the consensus control problem with nonidentical partially unknown control directions is approached in the work of Chen et al The aforementioned requirement is further relaxed to completely unknown nonidentical control directions, and sub‐Lyapunov functions are employed to design distributed controllers and analyze the closed‐loop stability for multiagent systems . However, these works consider only the distributed control problem of multiagent systems, and the output constraints of the multiagent systems are not taken into account.…”

Section: Introductionmentioning

confidence: 99%

“…"> iii.Despite the fact that the distributed backstepping technique has been performed on higher‐order nonlinear multiagent systems with nonidentical partially unknown control directions in the significant work, the output constraints are not taken into consideration. On the other hand, the current work can tackle multiagent systems with completely unknown nonidentical control directions, which is clarified as an unsolved problem in the aforementioned work …”

Section: Introductionmentioning

confidence: 99%

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Consensus control of output‐constrained multiagent systems with unknown control directions under a directed graph

Wang

Cai

2020

Intl J Robust & Nonlinear

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Summary This paper presents a novel distributed adaptive control algorithm for uncertain higher‐order nonlinear multiagent systems subject to output constraints and unknown control directions. Regarding the latter, a generic class of cases is considered, allowing completely unknown and even nonidentical control directions. Furthermore, the communication topology is only required to contain a fixed directed spanning tree. To guarantee the output constraints and address the asymmetric directed communication topology, a new reference output using the transformation strategy is introduced for each agent, benefiting from which the consensus problem of the multiagent system is recast as local tracking control problems of single agents. Then, the distributed control algorithm is recursively established based on the backstepping technique and the Nussbaum‐type function. By leveraging the unique properties of the Laplacian matrix on directed graphs and matrix theory, it is shown that, under the proposed distributed algorithm, uniform boundedness of all closed‐loop signals can be ensured, and asymptotic consensus is achieved without violation of the output constraints. Finally, simulation studies on the angle control of single‐link robots are given to verify the effectiveness of the proposed algorithm.

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“…Hence, the lumped state‐dependent uncertainties are permitted to grow arbitrarily large owing to the variation of

{\overset{x}{true}}_{i, n}

. Apparently, when

d_{i} false({\overset{x}{true}}_{i, n}, t false) = d_{i} false(t false)

, the multiagent system becomes uncertain system considered in many existing works; when

d_{i} false({\overset{x}{true}}_{i, n}, t false) = 0

, it reduces to the multiagent system studied in previous works . Moreover, similar assumptions can also be observed in many previous results such as the works of Jin and Ouyang and Lin .…”

Section: Problem Statement and Preliminariessupporting

confidence: 58%

N false(ξ false) = \sin false(ξ false) e^{ξ^{2}}

and replacing Lemma by lemma 4.3 in the work of Chen, this assumption can also be relaxed to the cases of time‐varying control coefficients b i ( t ) as in the existing works …”

Section: Problem Statement and Preliminariesmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Consensus control of output‐constrained multiagent systems with unknown control directions under a directed graph

Wang

Cai

2020

Intl J Robust & Nonlinear

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show abstract

“…Initially, the asymptotic consensus results were obtained in other works . Then, the finite‐time results were presented .…”

Section: Introductionmentioning

confidence: 99%

Robust event‐triggered control of second‐order disturbed leader‐follower MASs: A nonsingular finite‐time consensus approach

Liu

Zhang

Liu

et al. 2019

Intl J Robust & Nonlinear

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Summary This paper addresses the finite‐time and the prescribed finite‐time event‐triggered consensus tracking problems for second‐order multi‐agent systems (MASs) with uncertain disturbances. The prescribed finite‐time event‐triggered consensus of the second‐order disturbed MASs was obtained for the first time and the controller is nonsingular. Furthermore, a new self‐triggered control scheme is presented for the finite‐time consensus tracking, and the continuous communication can be avoided in the triggering condition monitoring. Hence, the finite‐time consensus tracking can be achieved with intermittent communication. Moreover, Zeno behavior is excluded for each follower. The efficiency of the proposed algorithms is verified by numerical simulations.

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Fuzzy adaptive leader‐following consensus of second‐order multiagent systems with imprecise communication topology structure

Chen

2018

Adaptive Control & Signal

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The consensus problem of second-order nonlinear multiagent systems (MAS) with imprecise communication topology structure is addressed in this paper. Takagi-Sugeno fuzzy models are presented to describe the leader-following MAS with imprecise communication topology structure. By designing the distributed adaptive controller, an efficient framework is proposed for the consensus control of the MAS with both uncertain parameters and input disturbances. Under the conditions that the communication topology is fuzzy union connected and the dynamics of the leader agent is unknown to any agent of followers, the proposed protocol can guarantee that the consensus errors asymptotically approach zeros. Furthermore, the proposed algorithm is extended to solve the formation control problem. Sufficient conditions are given for the consensus and formation problems of the MAS based on the Lyapunov stability theory. Finally, a numerical example and multiple pendulum systems are given to illustrate the effectiveness of the proposed control protocols.

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Adaptive Consensus of Nonlinear Multi-Agent Systems With Non-Identical Partially Unknown Control Directions and Bounded Modelling Errors

Cited by 184 publications

References 40 publications

Consensus control of output‐constrained multiagent systems with unknown control directions under a directed graph

Consensus control of output‐constrained multiagent systems with unknown control directions under a directed graph

Robust event‐triggered control of second‐order disturbed leader‐follower MASs: A nonsingular finite‐time consensus approach

Fuzzy adaptive leader‐following consensus of second‐order multiagent systems with imprecise communication topology structure

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