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

다국어 초록 (Multilingual Abstract)

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 de-centralized tracking control laws are designed using the state information and only the output informa-tion, 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.

참고문헌 (Reference)

1 W. Ren, "Second-order consensus algorithm with extensions to switching topologies and reference models" 1431-1436, 2007

2 G. Hu, "Robust consensus tracking of a class of secondorder multiagent dynamic systems" 61 (61): 134-142, 2012

3 G. Hu, "Robust consensus tracking for an integrator type multiagent system with disturbances and unmodelled dynamics" 84 (84): 1-8, 2011

4 B. Aloliwi, "Robust adaptive out-put feedback control of nonlinear systems without persistence of excitation" 33 (33): 2025-2032, 1997

5 S. Seshagiri, "Output feedback control of nonlinear systems using RBF neural net-works" 11 (11): 69-79, 2000

6 H. Liang, "Out-put regulation of statecoupled linear multi-agent systems with globally reachable topologies" 123 : 337-343, 2014

7 S. Tong, "Observerbased fuzzy adaptive control for strict-feedback nonlinear systems" 160 (160): 1749-1764, 2009

8 S. Tong, "Observer-based adaptive fuzzy backstepping control for a class of stochastic nonlinear strict-feedback systems" 41 (41): 1693-1704, 2011

9 H. K. Khalil, "Nonlinear Systems" Prentice-Hall 1996

10 W. Ni, "Leader-following consensus of multi-agent systems under fixed and switching topologies" 59 (59): 209-217, 2010

11 Lixin Gao, "Leader-following Consensus Problem with an Accelerated Motion Leader" 제어·로봇·시스템학회 10 (10): 931-939, 2012

12 Huaqing Li, "Leader-Following Finite-Time Consensus in Second-order Multi-Agent Networks with Nonlinear Dynamics" 제어·로봇·시스템학회 11 (11): 422-426, 2013

13 Xing-Hu Wang, "Leader-Follower Consensus for a Class of Nonlinear Multi-Agent Systems" 제어·로봇·시스템학회 10 (10): 27-35, 2012

14 W. Ren, "Information consensus in multivehicle cooperative control" 27 (27): 71-82, 2007

15 S. Tong, "Fuzzyadaptive decentralized output-feedback control for largescale nonlinear systems with dynamical uncertainties" 18 (18): 845-861, 2010

16 Z. Li, "Distributed tracking control for linear multiagent systems with a leader of bounded unknown input" 58 (58): 518-523, 2013

17 Y. Hong, "Distributed observers design for leader-following control of multiagent networks" 44 (44): 846-850, 2008

18 W. Yu, "Distributed higher order consensus protocols in multiagent dynamical systems" 58 (58): 1924-1932, 2011

19 Z. Li, "Distributed consensus of linear multi-agent systems with adap-tive dynamic protocols" 49 (49): 1986-1995, 2013

20 Z. Hou, "Decentralized ro-bust adaptive control for the multiagent system consensus problem using neural networks" 39 (39): 636-647, 2009

21 R. Olfati-Saber, "Consensus and cooperation in networked multi-agent systems" 95 : 215-233, 2007

22 H. Su, "Adaptive second-order consensus of networked mobile agents with nonlinear dynamics" 47 (47): 368-375, 2011

23 Y. -J. Liu, "Adaptive neural output feedback tracking control for a class of uncertain discrete-time nonlinear sys-tems" 22 (22): 1162-1167, 2011

24 H. Bai, "Adaptive motion coordination : using relative velocity feedback to track a reference velocity" 45 (45): 1020-1025, 2009

25 H. Bai, "Adaptive design for reference velocity recovery in motion coordination" 57 (57): 602-610, 2008

26 H. Zhang, "Adaptive cooperative tracking control of higher-order nonlinear systems with unknown dynamics" 48 (48): 1432-1439, 2012

27 H. Yu, "Adaptive consensus of multi-agents in networks with jointly connected topologies" 48 (48): 1783-1790, 2012

28 G. Goodwin, "Adaptive Filtering Prediction and Control" Dover Publications 2009

29 H. Zhang, "Adaptive Dynamic Programming for Control: Algorithms and Stability" Springer 2013

30 S. -C. Tong, "A combined backstepping and smallgain approach to robust adaptive fuzzy output feedback control" 17 (17): 1059-1069, 2009