Observer‐based adaptive neural network dynamic surface bipartite containment control for switched fractional order multi‐agent systems

Abstract

This article studies the bipartite containment control problem for a class of fractional order nonlinear multi-agent systems in the presence of arbitrary switchings and unmeasured states. Under the framework of Lyapunov function theory, this article proposes an adaptive neural network dynamic surface controller, in which dynamic surface control technology can avoid "explosion of complexity" and obtain fractional derivatives for virtual control functions continuously. Radial basis function neural networks are used to approximate the unknown nonlinear functions and an observer is designed to obtain the unmeasured states. The proposed distributed protocol can ensure all the signals remain semi-global uniformly ultimately bounded in the closed-loop system and all followers can converge to the convex hull containing each leader's trajectory as well as its opposite trajectory different in sign. Example and simulation results confirm the feasibility of the proposed control method.

Compound conditions event‐triggered tracking control for nonlinear multiagent systems with nonlinear output faults

“…Theorem 1. Consider the output fault model (2), the disturbance observer (10) and the compound conditions ET in the MASs (1), under the adaptive laws (39), (49), and (57), with the virtual variables (38) and ( 48), and the distributed controller (56). The tracking performance is obtained by the proposed control method.…”

“…The multiagent systems (MASs) 1,2 have developed rapidly in a large amount of fields, such as cooperative surveillance, 3 multivehicle cooperative control, 4 unmanned aerial vehicle, 5 and underwater vehicles. 6 As a basic problem of cooperative control, 7 the tracking control for MASs has been widely studied.…”

Fully distributed containment of multiple‐input‐multiple‐output linear multi‐agent systems with multiple nonautonomous leaders

“…In many real applications such as coordinate motion of robots, there may need multiple leaders to sense their surroundings. Then the containment problem for MASs with multiple leaders arises, [23][24][25][26][27][28][29][30][31][32][33][34] that is, the states of followers converge to convex hull that is spanned by those of leaders. For linear MASs with undirected topology and multiple nonautonomous leaders, some discontinuous and continuous containment controllers were designed in Reference 23.…”

“…The contributions are listed as follows:In contrast to References 23, 25, and 26 in which the containment controllers are designed upon full states, the controllers here only depend on relative outputs and thereby the theoretical results are more convenient for real applications. In contrast to References 22, 25, 28, and 29 in which the containment (consensus) criteria depend on some global information, the criteria provided here depend only on agents' dynamics and relative outputs which are local information. Hence the achieved containment is fully distributed and thereby is more convenient for practical applications to large scale networks. We remove the requirement of specific upper bounds of leaders' inputs which are required in References 18, 19, 21, and 22.…”

Command filter‐based adaptive neural network controller design for uncertain nonsmooth nonlinear systems with output constraint

“…In view of the NN approximation and the CFB design method, an adaptive tracking controller was designed for the servo mechanisms with unknown deadzone by the funnel control method. 14 Considering the NN's powerful approximating ability of unknown nonlinear functions, 15,16 nonsmooth nonlinear systems have attracted growing attention of researchers in various areas, and found wide applications in electrical power system and servo mechanical system in recent years.…”