Fully Distributed Adaptive Consensus Control of a Class of High-Order Nonlinear Systems With a Directed Topology and Unknown Control Directions

Jiangshuai Huang; Yongduan Song; Wei Wang; Changyun Wen; Guoqi Li

doi:10.1109/TCYB.2017.2737652

Fully Distributed Adaptive Consensus Control of a Class of High-Order Nonlinear Systems With a Directed Topology and Unknown Control Directions

Jiangshuai Huang
, Yongduan Song^*
, Wei Wang
, Changyun Wen
, Guoqi Li

^*Corresponding author for this work

School of Automation Science and Electrical Engineering

Chongqing University
Nanyang Technological University
Tsinghua University

Research output: Contribution to journal › Article › peer-review

118 Scopus citations

Abstract

In this paper, we investigate the adaptive consensus control for a class of high-order nonlinear systems with different unknown control directions where communications among the agents are represented by a directed graph. Based on backstepping technique, a fully distributed adaptive control approach is proposed without using global information of the topology. Meanwhile, a novel Nussbaum-type function is proposed to address the consensus control with unknown control directions. It is proved that boundedness of all closed-loop signals and asymptotically consensus tracking for all the agents' outputs are ensured. In simulation studies, a numerical example is illustrated to show the effectiveness of the control scheme.

Original language	English
Pages (from-to)	2349-2356
Number of pages	8
Journal	IEEE Transactions on Cybernetics
Volume	48
Issue number	8
DOIs	https://doi.org/10.1109/TCYB.2017.2737652
State	Published - Aug 2018

Keywords

Consensus control
Nussbaum function
distributed coordination control
high-order nonlinear systems
unknown control directions

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10.1109/TCYB.2017.2737652

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title = "Fully Distributed Adaptive Consensus Control of a Class of High-Order Nonlinear Systems With a Directed Topology and Unknown Control Directions",

abstract = "In this paper, we investigate the adaptive consensus control for a class of high-order nonlinear systems with different unknown control directions where communications among the agents are represented by a directed graph. Based on backstepping technique, a fully distributed adaptive control approach is proposed without using global information of the topology. Meanwhile, a novel Nussbaum-type function is proposed to address the consensus control with unknown control directions. It is proved that boundedness of all closed-loop signals and asymptotically consensus tracking for all the agents' outputs are ensured. In simulation studies, a numerical example is illustrated to show the effectiveness of the control scheme.",

keywords = "Consensus control, Nussbaum function, distributed coordination control, high-order nonlinear systems, unknown control directions",

author = "Jiangshuai Huang and Yongduan Song and Wei Wang and Changyun Wen and Guoqi Li",

note = "Publisher Copyright: {\textcopyright} 2018 IEEE.",

year = "2018",

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AU - Huang, Jiangshuai

AU - Song, Yongduan

AU - Wang, Wei

AU - Wen, Changyun

AU - Li, Guoqi

PY - 2018/8

Y1 - 2018/8

N2 - In this paper, we investigate the adaptive consensus control for a class of high-order nonlinear systems with different unknown control directions where communications among the agents are represented by a directed graph. Based on backstepping technique, a fully distributed adaptive control approach is proposed without using global information of the topology. Meanwhile, a novel Nussbaum-type function is proposed to address the consensus control with unknown control directions. It is proved that boundedness of all closed-loop signals and asymptotically consensus tracking for all the agents' outputs are ensured. In simulation studies, a numerical example is illustrated to show the effectiveness of the control scheme.

AB - In this paper, we investigate the adaptive consensus control for a class of high-order nonlinear systems with different unknown control directions where communications among the agents are represented by a directed graph. Based on backstepping technique, a fully distributed adaptive control approach is proposed without using global information of the topology. Meanwhile, a novel Nussbaum-type function is proposed to address the consensus control with unknown control directions. It is proved that boundedness of all closed-loop signals and asymptotically consensus tracking for all the agents' outputs are ensured. In simulation studies, a numerical example is illustrated to show the effectiveness of the control scheme.

KW - Consensus control

KW - Nussbaum function

KW - distributed coordination control

KW - high-order nonlinear systems

KW - unknown control directions

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VL - 48

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EP - 2356

JO - IEEE Transactions on Cybernetics

JF - IEEE Transactions on Cybernetics

IS - 8

ER -

Fully Distributed Adaptive Consensus Control of a Class of High-Order Nonlinear Systems With a Directed Topology and Unknown Control Directions

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Keywords

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