Adaptive robust consensus tracking for nonlinear second-order multi-agent systems with heterogeneous uncertainties

被引：40

作者：

Ai, Xiaolin ^{[1
]}

Yu, Jianqiao ^{[1
]}

Jia, Zhenyue ^{[1
]}

Shen, Yuanchuan ^{[1
]}

Ma, Pengbao ^{[1
]}

Yang, Di ^{[1
]}

机构：

[1] Beijing Inst Technol, Sch Aerosp Engn, Beijing 100081, Peoples R China

来源：

INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL | 2017年 / 27卷 / 18期

关键词：

adaptive robust control; consensus tracking; multi-agent systems; heterogeneous nonlinear dynamics; external disturbances; SAMPLED-DATA; TIME-DELAY; DYNAMICS; NETWORKS; SYNCHRONIZATION; TOPOLOGIES;

D O I：

10.1002/rnc.3847

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper addresses the consensus tracking problem for a class of heterogeneous nonlinear second-order multi-agent systems with parametric uncertainties, unmodeled dynamics, and bounded external disturbances. By linearly parameterizing the control input of the leader, two distributed adaptive robust consensus tracking control protocols with dynamic and fixed coupling gains are constructed based on the relative information from neighboring agents. The global tracking errors are shown to be guaranteed to exponentially converge to a ball with a constant radius at a prescribed rate of convergence under external disturbances. Finally, a numerical example is provided to verify the theoretical results. Copyright (c) 2017 John Wiley & Sons, Ltd.

引用

页码：5082 / 5096

页数：15

共 36 条

[1]

[Anonymous], 2014, Matrix analysis

[2] Adaptive design for reference velocity recovery in motion coordination [J].

Bai, He ;

Arcak, Murat ;

Wen, John T. .

SYSTEMS & CONTROL LETTERS, 2008, 57 (08) :602-610

[3] Adaptive Consensus Control for a Class of Nonlinear Multiagent Time-Delay Systems Using Neural Networks [J].

Chen, C. L. Philip ;

Wen, Guo-Xing ;

Liu, Yan-Jun ;

Wang, Fei-Yue .

IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS, 2014, 25 (06) :1217-1226

[4] Sampled-data based average consensus of second-order integral multi-agent systems: Switching topologies and communication noises [J].

Cheng, Long ;

Wang, Yunpeng ;

Hou, Zeng-Guang ;

Tan, Min ;

Cao, Zhiqiang .

AUTOMATICA, 2013, 49 (05) :1458-1464

[5] A vision-based formation control framework [J].

Das, AK ;

Fierro, R ;

Kumar, V ;

Ostrowski, JP ;

Spletzer, J ;

Taylor, CJ .

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 2002, 18 (05) :813-825

[6] Robust consensus tracking for an integrator-type multi-agent system with disturbances and unmodelled dynamics [J].

Hu, Guoqiang .

INTERNATIONAL JOURNAL OF CONTROL, 2011, 84 (01) :1-8

[7] Optimal target trajectory estimation and filtering using networked sensors [J].

Hu, Jiangping ;

Hu, Xiaoming .

JOURNAL OF SYSTEMS SCIENCE & COMPLEXITY, 2008, 21 (03) :325-336

[8] Adaptive tracking control of leader-follower systems with unknown dynamics and partial measurements [J].

Hu, Jiangping ;

Zheng, Wei Xing .

AUTOMATICA, 2014, 50 (05) :1416-1423

[9] Adaptive consensus with a virtual leader of multiple agents governed by locally Lipschitz nonlinearity [J].

Hu, Yuebing ;

Su, Housheng ;

Lam, James .

INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL, 2013, 23 (09) :978-990

[10] Adaptive finite-time consensus control of a group of uncertain nonlinear mechanical systems [J].

Huang, Jiangshuai ;

Wen, Changyun ;

Wang, Wei ;

Song, Yong-Duan .

AUTOMATICA, 2015, 51 :292-301

← 1 2 3 4 →