Distributed adaptive output consensus control of a class of uncertain nonlinear multiagents systems

Abstract

SummaryThis paper addresses the leader‐follower output consensus problem for a class of uncertain nonlinear multiagent systems in a directed communication topology. By employing the backstepping method, the dynamic surface control technique, neutral networks, and the graph theory, a distributed adaptive control scheme is developed recursively for each follower using its own and neighbors' information. The key features of this strategy are that it reduces the computational burden by introducing the dynamic surface control approach and there is no requirement for a priori knowledge about uncertain dynamics of the system. Moreover, in theory, it is proved that the designed control approach can steer the output signals of followers in a directed graph to track the desired trajectory of the leader and guarantee all signals in the closed‐loop system cooperatively semiglobally uniformly ultimately bounded. Furthermore, two examples are included, and the simulation results demonstrate the effectiveness of the proposed strategy.

Distributed output‐feedback finite‐time tracking control of nonaffine nonlinear leader‐follower multiagent systems

“…Based on the finite‐time observer, the fraction dynamic surface control approach, and the NN approximation property, the output‐feedback control protocols are derived. Different from the asymptotical convergence results in References , , and the finite‐time convergence property is achieved in this work. Since the finite‐time convergence enjoys strong robustness and fast convergence properties, it is attractive specially for the networked large‐scale systems.…”

“…In Reference , the output‐feedback consensus control for high‐order linear MASs was investigated. After that, many results have been developed to address the output‐feedback control for high‐order linear or nonlinear MASs by considering different situations, such as external disturbance, input saturation, unmodelled dynamics, and so on (eg, References ). In addition, it is more desirable to design finite‐time consensus protocol so that consensus is achieved in a fast way.…”

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.…”

Adaptive cooperative tracking control of uncertain nonlinear multiagent systems with uncertain Markov switching communication graphs

“…3 Consensus, which is a fundamental problem of multiagent systems, has attracted a lot of attention in recent years. [4][5][6][7][8][9][10][11][12][13][14][15][16][17][18][19][20][21][22] Different from the existing results on consensus, this paper focuses on the leader-following consensus problem of uncertain nonlinear multiagent systems with partly unknown Markovian switching signal, which is also called cooperative tracking problem. Our study is inspired by the following observations.…”

“…As for the multiagent systems with unknown nonlinear dynamics, the adaptive distributed controller was proposed by other authors. 7,17,28 Despite these efforts which have been done on the investigation of nonlinear multiagent systems, there are still few results on consensus of nonlinear multiagent systems under the switching topology, especially the switching topology with generally uncertain transition rates. Secondly, from the point of the communication topology, the communication topology considered in this paper is driven by Markovian switching.…”