Adaptive Consensus Tracking of High-order Nonlinear Multi-agent Systems with Directed Communication Graphs

被引：26
作者：
Fu, Junjie [1 ]
Wang, Jinzhi [1 ]
机构：
[1] Peking Univ, Dept Mech & Engn Sci, Coll Engn, Beijing 100871, Peoples R China
来源：
INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS | 2014年 / 12卷 / 05期
基金：
中国国家自然科学基金;
关键词：
Adaptive consensus tracking; directed graph; high-order nonlinear system; multi-agent system; OUTPUT-FEEDBACK CONTROL; LEADER; NETWORKS; VELOCITY; DESIGN;
D O I：
10.1007/s12555-013-0325-0
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 studies the adaptive consensus tracking problem for multi-agent systems modeled as high-order integrators with uncertain nonlinear dynamics under directed communication graphs. By parameterizing the unknown dynamics of the agents and the unknown input of the leader, two decentralized tracking control laws are designed using the state information and only the output information, respectively. With state information, globally uniformly ultimately bounded consensus tracking with arbitrarily small tracking errors can be achieved and when only output information is available, based on high-gain observers, semi-global result can be obtained. Numerical examples are provided to illustrate the effectiveness of the controllers.
引用
收藏
页码：919 / 929
页数：11
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