Distributed control for output-constrained nonlinear multi-agent systems with completely unknown non-identical control directions

Fan, Debao; Zhang, Xianfu; Liu, Shuai; Chen, Xiandong

doi:10.1016/j.jfranklin.2021.08.021

Cited by 18 publications

(8 citation statements)

References 28 publications

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“…Remark 1 As described in [15,36,37], the model (1) can represent many practical nonlinear systems, such as the pendulum system, robotic manipulators, and so on. The existence of θ * i f i (x in ) and d i (x in , t) makes the application of the system more extensive and general in practice.…”

Section: Problem Statementmentioning

confidence: 99%

“…Remark 2 Assumptions 1 and 2 indicate only part of agents may have full knowledge of the trajectory of the leader's output y r . To achieve the distributed asymptotic consensus tracking successfully, Assumption 3 is a necessary condition, which indicates that there exists a common sub-domain of all outputs of followers (−β 1 (t), β 2 (t)) such that y r ∈ (−β 1 (t), β 2 (t)) for t ∈ (t 1 , ∞), and such a condition is more relaxed than the works of [36][37][38]. It is worth pointing out that we only need to know the existence of time point t 1 , not its specific value.…”

Section: Problem Statementmentioning

confidence: 99%

“…In [35], an adaptive consensus control scheme for output-constrained nonlinear MASs with actuator faults was proposed, where both constrained and unconstrained outputs can be ensured, and only the distributed bounded consensus tracking was achieved. In [36][37][38], considering the unknown control directions of agents, the problem of distributed consensus control for output-constrained MASs was further investigated, nevertheless, the considered MASs were leaderless. Therefore, for nonlinear MASs with unknown control directions and a time-varying leader, how to use a PI control strategy to realize the output-constrained control and the distributed asymptotic consensus tracking is an interesting work, and fewer studies have investigated this topic.…”

Section: Introductionmentioning

confidence: 99%

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Distributed adaptive PI consensus tracking control for output-constrained nonlinear multiagent systems with unknown control directions

Zhu

Zhang

Hua

2023

Preprint

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This paper investigates the problem of distributed adaptive PI consensus tracking control for output-constrained nonlinear multiagent systems (MASs) with unknown control directions and unknown time-varying actuator faults under the directed graph. Firstly, an auxiliary filter network is constructed to estimate the output of the leader. Then, by introducing a nonlinear state transformation function, the asymmetric constraints on agents' outputs can be achieved with unconstrained initial conditions. Furthermore, based on the Nussbaum-type functions, a distributed adaptive PI controller is designed by utilizing the constructed generalized error for nonlinear MASs with unknown time-varying control directions caused by actuator faults. It is proved that the proposed control scheme can guarantee that all signals in the closed-loop system are bounded and the distributed asymptotic consensus tracking is achieved. Finally, a simulation example illustrates the effectiveness of the proposed control strategy.

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Section: Problem Statementmentioning

confidence: 99%

Section: Problem Statementmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Distributed adaptive PI consensus tracking control for output-constrained nonlinear multiagent systems with unknown control directions

Zhu

Zhang

Hua

2023

Preprint

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“…Consider a practical uncertain multi-agent system with unknown control gains as discussed in [43,44], where each follower agent stands for a single-link robot. The communication topology graph of four single-link robots is given in Figure 1, where the leader agent is marked as "0".…”

Section: Simulation Examplementioning

confidence: 99%

Finite-Time Adaptive Dynamic Surface Asymptotic Tracking Control of Uncertain Multi-Agent Systems with Unknown Control Gains

Deng,

2023

Applied Sciences

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In this work, the finite-time asymptotic tracking control problem of uncertain multi-agent systems with unknown control gains is studied. For the unknown control gain of each subsystem in multi-agent systems, we consider using the Nussbaum gain function techniques to handle them. To deal with the unknown uncertain nonlinear dynamics, the radial basis function neural network is introduced in each step of the dynamic surface control design. In addition, a nonlinear compensating term with the estimation of an unknown bounded parameter is designed to avoid repeated differentiation of each virtual control law. Then, based on the neural network control method, dynamic surface control technique, and finite-time control theory, an adaptive neural network finite-time dynamic surface control law is finally designed. Using stability analysis, it is proven that the presented adaptive control law can guarantee all signals of the closed-loop system semi-global practical finite-time stable, and the tracking error of each follower agent can converge to a small neighborhood of zero in finite time. Finally, a class of single-link robot systems is provided to illustrate the effectiveness of the designed control law.

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“…The leader-follower consensus is a significant problem in the field of cooperative control for multiagent systems (MASs) due to its practical application in management, industry, and other areas. 1,2 The distributed control protocol was designed for MASs such that followers can track the state of leader in the works of Li et al, 3 Zegers et al, 4 and Fan et al 5 It can be observed that the aforementioned literatures focus on the cooperative interaction among agents. However, the cooperative and antagonistic relationship among agents may coexist in social network, industry, and other areas.…”

Section: Introductionmentioning

confidence: 99%

Sampled‐data bipartite consensus control of nonlinear multi‐agent systems under denial‐of‐service attacks

Pan

Zhang

Fan

2022

Adaptive Control & Signal

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This article concentrates on the sampled-data secure bipartite consensus problem for a class of nonlinear multiagent systems under intermittent denial-of-service attacks. The network communication channels are destroyed when the attacks occur, which causes all the system states to be unavailable. A novel distributed sampled-data output feedback control protocol is developed by using the discontinuous sensor data. It is proved by the Lyapunov stability analysis that the considered nonlinear multiagent systems can achieve bipartite consensus exponentially in light of the designed control protocol. Then, the control algorithm is extended to systems with both state and input delay. Finally, a simulation example is presented to verify the effectiveness of the proposed control protocol.

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Distributed control for output-constrained nonlinear multi-agent systems with completely unknown non-identical control directions

Cited by 18 publications

References 28 publications

Distributed adaptive PI consensus tracking control for output-constrained nonlinear multiagent systems with unknown control directions

Distributed adaptive PI consensus tracking control for output-constrained nonlinear multiagent systems with unknown control directions

Finite-Time Adaptive Dynamic Surface Asymptotic Tracking Control of Uncertain Multi-Agent Systems with Unknown Control Gains

Sampled‐data bipartite consensus control of nonlinear multi‐agent systems under denial‐of‐service attacks

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