Adaptive Consensus Control for Nonlinear Multiagent Systems With Unknown Control Directions and Time-Varying Actuator Faults

被引：95
作者：
Wang, Chenliang [1 ,2 ]
Wen, Changyun [3 ]
Guo, Lei [1 ,2 ]
机构：
[1] Beihang Univ, Sch Automat Sci & Elect Engn, Beijing 100191, Peoples R China
[2] Beihang Univ, Beijing Adv Innovat Ctr Big Data Based Precis Med, Beijing 100191, Peoples R China
[3] Nanyang Technol Univ, Sch Elect & Elect Engn, Singapore 639798, Singapore
来源：
IEEE TRANSACTIONS ON AUTOMATIC CONTROL | 2021年 / 66卷 / 09期
基金：
北京市自然科学基金; 中国国家自然科学基金;
关键词：
Actuators; Multi-agent systems; Time-varying systems; Asymptotic stability; Actuator faults; adaptive control; consensus; unknown control directions; multiagent systems; COOPERATIVE OUTPUT REGULATION;
D O I：
10.1109/TAC.2020.3034209
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this article, an adaptive consensus tracking control scheme is proposed for a class of high-order nonlinear multiagent systems with unknown control directions. Different from the existing results, the unknown control directions are not required to be identical and also unknown time-varying actuator faults are taken into account simultaneously. We design some novel Nussbaum functions and construct a monotonously increasing sequence in which the effects of our multiple Nussbaum functions reinforce rather than counteract each other. Moreover, some integrable auxiliary signals and a novel contradiction argument are introduced in the design and analysis. With these efforts, the obstacle jointly caused by the unknown control directions and actuator faults are circumvented, and the global stability of the overall closed-loop system and asymptotic convergence to zero of tracking errors are successfully achieved. Simulation results illustrate the effectiveness of the proposed control scheme.
引用
收藏
页码：4222 / 4229
页数：8
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