TY - JOUR
T1 - Fully Distributed Adaptive Consensus Tracking of Uncertain Nonlinear Multi-Agent Systems
T2 - An Augmented System Approach
AU - Long, Jiang
AU - Guo, Yangming
AU - Liu, Zun
AU - Wang, Wei
AU - Zhou, Siwen
N1 - Publisher Copyright:
© 2004-2012 IEEE.
PY - 2023/6/1
Y1 - 2023/6/1
N2 - In this brief, we investigate the consensus tracking control problem for first-order nonlinear multi-agent systems with unknown system parameters, external disturbances and directed communication graph. The system dynamics of each agent is not required to satisfy Lipschitz condition. Besides, the desired trajectory is not of linearly parameterized form with basis functions known by all the agents. In this setting, how to design a fully distributed adaptive control scheme to guarantee consensus tracking is a difficult issue since non-symmetric Laplacian matrix brings difficulties of designing fully distributed parameter update laws. To solve this issue, the design idea of transforming the original first-order multi-agent systems into augmented second-order multi-agent systems is firstly presented. Based on adaptive backstepping technique, a novel fully distributed consensus tracking control scheme is then proposed. Finally, the effectiveness of the proposed control scheme is verified in simulation.
AB - In this brief, we investigate the consensus tracking control problem for first-order nonlinear multi-agent systems with unknown system parameters, external disturbances and directed communication graph. The system dynamics of each agent is not required to satisfy Lipschitz condition. Besides, the desired trajectory is not of linearly parameterized form with basis functions known by all the agents. In this setting, how to design a fully distributed adaptive control scheme to guarantee consensus tracking is a difficult issue since non-symmetric Laplacian matrix brings difficulties of designing fully distributed parameter update laws. To solve this issue, the design idea of transforming the original first-order multi-agent systems into augmented second-order multi-agent systems is firstly presented. Based on adaptive backstepping technique, a novel fully distributed consensus tracking control scheme is then proposed. Finally, the effectiveness of the proposed control scheme is verified in simulation.
KW - Distributed adaptive control
KW - consensus
KW - directed topology
KW - nonlinear multi-agent systems
UR - https://www.scopus.com/pages/publications/85144750674
U2 - 10.1109/TCSII.2022.3227516
DO - 10.1109/TCSII.2022.3227516
M3 - 文章
AN - SCOPUS:85144750674
SN - 1549-7747
VL - 70
SP - 2151
EP - 2155
JO - IEEE Transactions on Circuits and Systems II: Express Briefs
JF - IEEE Transactions on Circuits and Systems II: Express Briefs
IS - 6
ER -