Connectivity-Preserving Consensus Tracking of Uncertain Nonlinear Strict-Feedback Multiagent Systems: An Error Transformation Approach

Abstract

This brief addresses a distributed connectivity-preserving adaptive consensus tracking problem of uncertain nonlinear strict-feedback multiagent systems with limited communication ranges. Compared with existing consensus results for uncertain nonlinear lower triangular multiagent systems, the main contribution of this brief is to present an error-transformation-based design methodology to preserve initial connectivity patterns in the consensus tracking field, namely, both connectivity preservation and consensus tracking problems are considered for uncertain nonlinear lower triangular multiagent systems. A dynamic surface design based on nonlinearly transformed errors and neural network function approximators is established to construct the local controller of each follower. In addition, a technical lemma is derived to analyze the stability of the proposed connectivity-preserving consensus scheme in the Lyapunov sense.

Asymptotic consensus via switching adaptive for nonlinear multi‐agent systems subject to atypical disturbances

“…Remark that when the MASs suffer multiple disturbances with different periods, whether the developed strategy still works, or how to refine the strategy for finite‐time compensation and consensus, both are what we pursue in the future study. Moreover, developing the proposed strategy into the more general form of systems or more general disturbances (such as unbounded ones) is also an important topic we will discuss in the future 39‐43 …”

Decentralized Control of Multiple Strict-Feedback Systems With Unknown Control Directions

“…Remark 1: In existing works [13,[34][35][36][37][38][39], the coefficients b i (sign and amplitude) are assumed to be known or unknown but identical or some assumptions have been made on b i . In this paper, the signs of b i can be nonidentical, which means that some agents may have positive high-frequency gains while others may have negative high-frequency gains.…”

Relative Threshold-Based Event-Triggered Control for Nonlinear Constrained Systems With Application to Aircraft Wing Rock Motion

“…On the basis of the statements above Eq.27 in [12], it holds that α n−1 is bounded, i.e., α n−1 < α n−1 withᾱ n−1 being a positive constant. Note that, for ∀a ∈ R and ε > 0, there has −a tanh(a/ε) ≤ 0.…”